公开(公告)号：US20210267440A1

公开(公告)日：2021-09-02

申请号：US17258841

申请日：2019-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jue LIN ,  Andrew J. HAZELTON ,  Changmeng LIU

IPC: A61B1/018 ,  A61B1/05 ,  A61B1/00 ,  A61B90/00 ,  G06T7/00

Abstract: A method for determining a position of a tool being received by a catheter, the method including capturing first images with the tool as the tool is being installed in the catheter. The method also includes generating training images for a deep convolutional neural network (DCNN) by replicating the first images and applying perturbations to the replicated first images. The method also includes training the DCNN by inputting the training images into the DCNN. The method also includes capturing second images with the tool as the tool is being installed in the catheter. The method also includes inputting the second images into the DCNN. The method also includes analyzing the second images with the trained DCNN. The method further includes determining a configuration of the tool based on the analyzed second images.