公开(公告)号：US20230346479A1

公开(公告)日：2023-11-02

申请号：US18041373

申请日：2021-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Leah Muller ,  Paris A. Hajali, Jr. ,  Hui Zhang

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

CPC classification number: A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/301 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: Systems, devices, methods, and computer program products for identifying and mitigating image-to-body divergence are disclosed herein. In some embodiments, a method includes receiving sensor data from a medical device while the medical device is inserted within an anatomic region of a patient and after it has been registered to an anatomic model of the anatomic region, where the anatomic model is based on previously-obtained image data of the anatomic region and includes a virtual path extending throughout the anatomic model to an anatomic structure of interest, and where sensor data indicates a location of at least a portion of the medical device; comparing the sensor data to a corresponding portion of the virtual path; based at least in part on the comparison, producing a divergence classifier indicative of a divergence of the anatomic region from the anatomic model; and generating an alert when the divergence classifier exceeds a predetermined threshold.

公开(公告)号：US20250072969A1

公开(公告)日：2025-03-06

申请号：US18725235

申请日：2022-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Julie Walker ,  Troy K. Adebar ,  Cristian Bianchi ,  Zachary Moller ,  Leah Muller ,  Cynthia Warman ,  Sungwon Yoon

IPC: A61B34/10 ,  A61B34/00 ,  A61B90/00

Abstract: A system comprises a processor, a display, and a memory having computer readable instructions stored thereon that, when executed by the processor, cause the system to receive intra-operative three-dimensional image data from an imaging system. A portion of the intra-operative three-dimensional image data corresponds to an instrument disposed in a patient anatomy. The computer readable instructions, when executed by the processor, further cause the system to generate two-dimensional projection image data from the intra-operative three-dimensional image data, display the two-dimensional projection image data on the display, and identify, within the two-dimensional projection image data, a three-dimensional location of a portion of the instrument.

公开(公告)号：US20230138457A1

公开(公告)日：2023-05-04

申请号：US17976636

申请日：2022-10-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew D. Rohr Daniel ,  Ruchi C. Bhatt ,  Leah Muller ,  Thomas Roberts ,  Alexis Veracruz

IPC: G09B23/30 ,  G16H50/50

Abstract: Anatomic simulators, assemblies, and related methods are disclosed. In some embodiments, an anatomic simulator may include constraint panels that define a variably sized volume configured to receive an organ model. An elastic member may be configured to provide a restorative force when the constraint panels are moved to an expanded configuration. Alignment apertures in the constraint panels may be configured to permit marking of an organ model and/or visibility of a mark disposed on the organ model to position and orient the organ model in the anatomic simulator. In some embodiments, an anatomic simulation assembly may include an anatomic simulator, a pressure source, pneumatic controls, a pressure sensor, and a processor. In some embodiments, a method of simulating anatomic motion may include flowing a fluid to an organ model, sensing a pressure, and controlling the flow of fluid based on the sensed pressure to maintain a target pressure.