公开(公告)号：US10555788B2

公开(公告)日：2020-02-11

申请号：US15300263

申请日：2016-09-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher Allenby

IPC: A61B34/00 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D) endoscope; a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

公开(公告)号：US10334227B2

公开(公告)日：2019-06-25

申请号：US15300265

申请日：2015-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones

IPC: H04N5/225 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00 ,  H04N13/243 ,  H04N13/344 ,  A61B1/00

Abstract: A system is provided that includes a quantitative three-dimensional (Q3D) endoscope that is inserted through a first port providing access to a body cavity to a first position at which a first 3D image of a first portion of an anatomical structure is captured from a perspective of said endoscope. A first Q3D model is produced based upon the captured first image. The endoscope is inserted through a second port providing access to the body cavity to a second position at which a second image of a second portion of the anatomical structure is captured. A second quantitative Q3D model is produced based upon the captured second image. The first Q3D model and the second Q3D model are combined together to produce an expanded Q3D model of the anatomical structure. The expanded Q3D model can be stored for further manipulation or can be displayed in 3D.

公开(公告)号：US20220241013A1

公开(公告)日：2022-08-04

申请号：US17671396

申请日：2022-02-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher B. Allenby

IPC: A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35

Abstract: A system is provided that includes a Q3D endoscope disposed to image a field of view and a processor that produces a Q3D model of a scene and identifies target instruments and structures. The processor is configured to display the scene from a virtual field of view of an instrument, to determine a no fly zone around targets, to determine a predicted path for said instruments or to provide 3D tracking of said instruments.

公开(公告)号：US11304771B2

公开(公告)日：2022-04-19

申请号：US16570917

申请日：2019-09-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher B. Allenby

IPC: A61B34/00 ,  A61B34/32 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

公开(公告)号：US20200022769A1

公开(公告)日：2020-01-23

申请号：US16570917

申请日：2019-09-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher B. Allenby

IPC: A61B34/00 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/06

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

公开(公告)号：US20170181809A1

公开(公告)日：2017-06-29

申请号：US15300259

申请日：2015-03-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Daniel H. Jones

IPC: A61B90/00 ,  A61B1/04 ,  A61B5/055 ,  A61B6/03 ,  G06T19/20 ,  A61B8/00 ,  A61B34/32 ,  A61B34/35 ,  G06T7/33 ,  A61B1/00 ,  A61B6/00

CPC classification number: A61B90/37 ,  A61B1/00048 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/043 ,  A61B5/055 ,  A61B5/7425 ,  A61B6/03 ,  A61B6/032 ,  A61B6/037 ,  A61B6/466 ,  A61B8/466 ,  A61B34/32 ,  A61B34/35 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2090/363 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  A61B2090/502 ,  G06T7/33 ,  G06T19/20 ,  G06T2207/10064 ,  G06T2207/10068 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/10104 ,  G06T2207/10132 ,  G06T2219/2004 ,  H04N13/232

Abstract: A method is provided to align a quantitative three-dimensional (Q3D) model of a three dimensional (3D) structure with a 3D visual representation of a sub-surface target object internal to the anatomical structure, the method comprising: identifying fiducial points within the external surface of the 3D structure represented in the 3D visual representation; identifying the same fiducial points within the Q3D model; aligning the identified fiducial points in the 3D visual representation with the identified fiducial points in the Q3D model; and producing a visual image representation of the 3D structure that includes a view of an external surface and a view of the internal sub-surface target structure.