公开(公告)号：US20240164853A1

公开(公告)日：2024-05-23

申请号：US18552137

申请日：2022-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bai Wang ,  Joy Janku ,  Sida Li ,  Shiyang Chen ,  Hui Zhang

IPC: A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  G06T19/00

CPC classification number: A61B34/25 ,  A61B34/35 ,  G06T19/00 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/303 ,  G06T2200/24 ,  G06T2210/41

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure is configured to receive a three-dimensional (3D) model of an anatomic region of a patient. The 3D model can include a set of linked structures and at least one isolated structure spaced apart from the linked structure. The system can output a graphical representation of the linked structures and the at least one isolated structure, and can receive operator input indicating a set of locations on the graphical representation. The set of locations can represent a connection between the at least one isolated structure and the linked structures. Based on the operator input, the system can generate a bridge structure connecting the at least one isolated structure to the linked structures.

公开(公告)号：US20240099776A1

公开(公告)日：2024-03-28

申请号：US18259854

申请日：2021-12-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Sungwon Yoon ,  Hui Zhang ,  Troy K. Adebar ,  Cristian Bianchi ,  Carlo Camporesi

IPC: A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G06T7/12 ,  G06T7/30 ,  G06V10/25 ,  G16H30/20

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B90/361 ,  A61B90/37 ,  G06T7/12 ,  G06T7/30 ,  G06V10/25 ,  G16H30/20 ,  A61B2034/2061 ,  G06V2201/07

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record shape data for an instrument during an image capture period of an imaging system and receive image data from the imaging system corresponding to the image capture period. A portion of the image data corresponds to the instrument. The computer readable instructions further cause the system to identify a target in the image data, segment the portion of the image data, register the image data to the shape data by comparing the shape data to the portion of the image data corresponding to the instrument, and update a location of the target from a pre-operative location to an intra-operative location based upon the image data.

公开(公告)号：US20220392087A1

公开(公告)日：2022-12-08

申请号：US17774822

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: G06T7/33 ,  G06T7/11 ,  G06V10/25 ,  G06T7/00

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to record shape data from a shape sensor for an instrument during an image capture period and generate a sensor point cloud from the recorded shape data. The computer readable instructions, when executed by the processor, may also cause the system to receive image data from an imaging system during the image capture period, generate an image point cloud for the instrument from the image data, and register the sensor point cloud to the image point cloud.

公开(公告)号：US20220387115A1

公开(公告)日：2022-12-08

申请号：US17774797

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： FEDERICO BARBAGLI ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/10 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06V10/74

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

公开(公告)号：US20220254104A1

公开(公告)日：2022-08-11

申请号：US17617869

申请日：2020-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Hui Zhang ,  Junning Li ,  Bai Wang ,  Tao Zhao

IPC: G06T17/20 ,  A61B34/10 ,  G06T7/00

Abstract: An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer anatomical feature.

公开(公告)号：US20210401508A1

公开(公告)日：2021-12-30

申请号：US17277414

申请日：2019-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Energy Cruse, II ,  Vincent Duindam ,  Pechin Chien Pau Lo ,  Jun Ma ,  Oscar G. Salazar ,  Bai Wang ,  Hui Zhang

IPC: A61B34/20 ,  A61B34/00 ,  G06T3/00 ,  A61B6/00 ,  A61B34/10

Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.

公开(公告)号：US12067678B2

公开(公告)日：2024-08-20

申请号：US17617869

申请日：2020-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Hui Zhang ,  Junning Li ,  Bai Wang ,  Tao Zhao

IPC: G06T17/20 ,  A61B34/10 ,  G06T7/00

CPC classification number: G06T17/20 ,  A61B34/10 ,  G06T7/0012 ,  A61B2034/105 ,  A61B2034/107 ,  G06T2207/30064 ,  G06T2207/30101 ,  G06T2210/41

Abstract: An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer anatomical feature.

公开(公告)号：US20240169480A1

公开(公告)日：2024-05-23

申请号：US18552071

申请日：2022-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bai Wang ,  Pechin Chien Pau Lo ,  Sida Li ,  Gavin Jensen ,  Joy Janku ,  Sabrina A. Cismas ,  Hui Zhang

IPC: G06T3/4007

CPC classification number: G06T3/4007

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for processing medical image data is configured to receive image data of a patient's anatomy. The system can select a first section of the image data, each image interval in the first section having an interval size within a predetermined size range. The system can identify a second section of the image data including at least one image interval having an interval size outside the predetermined size range. The system can generate a resampled second section by adding, deleting, and/or resampling one or more interpolated images in the second section, such that each image interval in the resampled second section has an interval size within the predetermined size range. The system can output a combined section including the first section and the resampled second section.

公开(公告)号：US20230360212A1

公开(公告)日：2023-11-09

申请号：US18344789

申请日：2023-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hui Zhang ,  Cristian Bianchi ,  Troy K. Adebar ,  Carlo Camporesi ,  Sungwon Yoon

IPC: G06T7/00 ,  G06T19/20 ,  G06T7/12 ,  G06T7/30 ,  G06F3/0485

CPC classification number: G06T7/0012 ,  G06T19/20 ,  G06T7/12 ,  G06T7/30 ,  G06F3/0485 ,  G06T2219/2004 ,  G06T2207/10081 ,  G06T2207/10121 ,  G06T2207/20104

Abstract: A system may comprise a processor, a user display, and a memory storing computer readable instructions. The instructions, when executed by the processor, cause the system to obtain pre-operative image data of anatomical passages of a patient, display the pre-operative image data in a graphical user interface, record shape data for an instrument disposed in the anatomical passages of the patient during an image capture period, and receive intra-operative image data from the imaging system corresponding to the image capture period. A portion of the intra-operative image data corresponds to the instrument. The computer readable instructions further cause the system to segment the portion of the intra-operative image data corresponding to the instrument, register the intra-operative image data to the shape data by comparing the shape data to the portion of the intra-operative image data corresponding to the instrument, and update the graphical user interface.

公开(公告)号：US20230317252A1

公开(公告)日：2023-10-05

申请号：US18041126

申请日：2021-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Hui Zhang ,  Troy K. Adebar ,  Tao Zhao

IPC: G16H30/40 ,  G06T15/00 ,  G06V10/44 ,  G06V10/56 ,  G16H30/20

CPC classification number: G16H30/40 ,  G06T15/00 ,  G06V10/44 ,  G06V10/56 ,  G16H30/20

Abstract: A system may perform operations including receiving data comprising a plurality of image frames sampled from a volume data set of an imaged anatomical region displayable on a monitor. The plurality of image frames may correspond to a plurality of volume data reconstruction images displayed on the monitor in a series of image slices of a scrollable image stack. The operations also include analyzing the plurality of image frames to detect image features that are characteristic of a static view region in each image frame and evaluating the detected image features to determine a relative location of the detected one or more image features with respect to a scrolling view region for each image frame. The operations also include determining an ordered set of the image frames sorted according to a sequence based on relative locations and producing processed video data comprising the ordered set of the image frames.