公开(公告)号：US20200242767A1

公开(公告)日：2020-07-30

申请号：US16076290

申请日：2017-02-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao ZHAO ,  Federico BARBAGLI ,  Caitlin Q DONHOWE ,  Vincent DUINDAM ,  Micheal D. PARIS ,  Timothy D. SOPER ,  Oliver J. WAGNER

IPC: G06T7/00 ,  G06T11/00 ,  A61B6/12 ,  A61B6/00 ,  A61B34/20

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

公开(公告)号：US20180128599A1

公开(公告)日：2018-05-10

申请号：US15572135

申请日：2016-05-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dawn K. GIFFORD ,  Federico BARBAGLI ,  Samuel Y. CHANG ,  Anoop B. KOWSHIK ,  Oliver J. WAGNER ,  Michael D. PARIS ,  Mark E. FROGGATT

IPC: G01B11/16 ,  A61B1/00 ,  G01L1/24 ,  G02B23/26 ,  G02B6/02 ,  G02B6/34

CPC classification number: G01B11/16 ,  A61B1/00096 ,  A61B1/00165 ,  G01L1/24 ,  G02B6/02042 ,  G02B6/022 ,  G02B6/34 ,  G02B23/26

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

公开(公告)号：US20180245907A1

公开(公告)日：2018-08-30

申请号：US15757436

申请日：2016-12-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. FROGGATT ,  Eric E. SANBORN ,  Federico BARBAGLI

IPC: G01B9/02 ,  A61B5/00 ,  A61B5/026

CPC classification number: G01B9/0209 ,  A61B3/102 ,  A61B3/107 ,  A61B5/0066 ,  A61B5/0261 ,  A61B5/061 ,  A61B5/1072 ,  A61B5/1076 ,  A61B5/1459 ,  G01M11/3172

Abstract: A fiber housing includes multiple shape sensing cores and a single optical core. A distal end of the fiber housing is positionable to direct the single optical core to a current point of an anatomical target. Collimated light over a first range of frequencies is projected from the single optical core to the current point. OFDR is used to detect reflected light scattered from the current point and to process the detected light to determine a distance to the current point. Light over a second range of frequencies is projected through the multiple shape sensing optical cores to the distal end of the fiber housing. OFDR is used to measure light reflected from the distal end of the fiber housing back through the multiple shape sensing optical cores and to process the measurement to determine a position in three dimensional space of the distal end of the fiber housing and a pointing direction of the distal end of the fiber housing. A position in three dimensional space of the current point is determined based on the determined position in three dimensional space of the distal end of the fiber housing, the pointing direction of the distal end of the fiber housing, and the determined distance.

公开(公告)号：US20190269470A1

公开(公告)日：2019-09-05

申请号：US16331713

申请日：2017-09-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico BARBAGLI ,  Lisa L. ISON

IPC: A61B34/20 ,  A61B17/34 ,  A61B34/35

Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.