公开(公告)号：US20180325419A1

公开(公告)日：2018-11-15

申请号：US16025688

申请日：2018-07-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC分类号： A61B5/06

CPC分类号： A61B5/061 ,  A61B5/065 ,  A61B5/7425 ,  A61B34/20 ,  A61B2034/2051 ,  G06F19/00

摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.

公开(公告)号：US10039473B2

公开(公告)日：2018-08-07

申请号：US13892974

申请日：2013-05-13

申请人： Intuitive Surgical Operations, Inc.

发明人： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC分类号： A61B5/06 ,  A61B5/00 ,  A61B34/20

摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

公开(公告)号：US11633125B2

公开(公告)日：2023-04-25

申请号：US16025688

申请日：2018-07-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC分类号： A61B5/06 ,  A61B5/00 ,  A61B34/20

摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. The method further includes displaying a virtual visualization image in a display system, the virtual visualization image being based on the registering of the medical instrument with the model of the anatomical passageway and depicting a rendered view of the model of the anatomical passageway from a perspective of the medical instrument within the model of the anatomical passageway.

公开(公告)号：US20230218193A1

公开(公告)日：2023-07-13

申请号：US18180060

申请日：2023-03-07

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC分类号： A61B5/06 ,  A61B34/20 ,  A61B5/00

CPC分类号： A61B5/061 ,  A61B34/20 ,  A61B5/7425 ,  A61B5/065 ,  A61B2034/2051

摘要： A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.