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公开(公告)号：US11960665B2
公开(公告)日：2024-04-16
申请号：US17407634
申请日：2021-08-20
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC分类号： A61B46/10 , A61B1/00 , A61B34/00 , A61B34/35 , G06F3/0354 , A61B34/20 , A61B34/30 , A61B90/00 , A61M25/01
CPC分类号： G06F3/03547 , A61B1/00042 , A61B34/25 , A61B34/35 , A61B34/74 , A61B46/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3735 , A61M25/0113
摘要： A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.
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公开(公告)号：US20230215007A1
公开(公告)日：2023-07-06
申请号：US18184499
申请日：2023-03-15
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
CPC分类号： A61B34/20 , A61B34/10 , A61B2034/2046 , A61B2034/105
摘要： 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.
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公开(公告)号：US11636597B2
公开(公告)日：2023-04-25
申请号：US16950980
申请日：2020-11-18
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
摘要： A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.
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公开(公告)号：US20210378763A1
公开(公告)日：2021-12-09
申请号：US17407634
申请日：2021-08-20
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R. Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
摘要： A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.
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公开(公告)号：US20240264683A1
公开(公告)日：2024-08-08
申请号：US18607140
申请日：2024-03-15
发明人： David W. Bailey , Federico Barbagli , Rueben D. Brewer , Christopher R. Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC分类号： G06F3/0354 , A61B1/00 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/35 , A61B46/10 , A61B90/00 , A61M25/01
CPC分类号： G06F3/03547 , A61B1/00042 , A61B34/25 , A61B34/35 , A61B34/74 , A61B46/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3735 , A61M25/0113
摘要： An input control console for a flexible elongate device may comprise an input control having an infinite length of travel in a one or more directions. The input control may provide a command suitable for controlling a degree of freedom motion of the flexible elongate device. The input control console may also comprise a ring located on a top surface of the console, the input control being mounted within the ring.
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公开(公告)号：US20220346886A1
公开(公告)日：2022-11-03
申请号：US17851270
申请日：2022-06-28
发明人： Timothy D. Soper , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Oliver Wagner , Tao Zhao
摘要： A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.
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公开(公告)号：US11172809B2
公开(公告)日：2021-11-16
申请号：US14181024
申请日：2014-02-14
发明人： Michael D. Paris , Lucas Gordon , Tao Zhao , Carol Reiley
摘要： An anatomical probe system comprises an elongated flexible body and an elongated probe extending within the flexible body. The probe has a distal opening at a distal face of a distal end and includes an outer wall defining a channel, an access port in the outer wall in communication with the channel, a one-way flow controller, and an image capture instrument secured to the outer wall at a location proximal of the distal opening. The access port is spaced proximally of the distal face of the distal end. The one-way flow controller includes a cover configured to move between an open position where the access port is uncovered and the channel is in fluid communication with an area adjacent to the elongated probe via the access port, and a closed position where the access port is covered and a migration of fluids through the distal opening is permitted.
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8.发明授权公开(公告)号：US10378883B2
公开(公告)日：2019-08-13
申请号：US15572135
申请日：2016-05-12
发明人： Dawn K. Gifford , Federico Barbagli , Samuel Y. Chang , Anoop B. Kowshik , Oliver J. Wagner , Michael D. Paris , Mark E. Froggatt
摘要： 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.
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公开(公告)号：US20240281976A1
公开(公告)日：2024-08-22
申请号：US18652927
申请日：2024-05-02
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
CPC分类号： G06T7/0014 , A61B6/12 , A61B6/487 , A61B6/5235 , A61B34/10 , A61B34/20 , G06T11/003 , A61B6/5247 , A61B2034/105 , A61B2034/2046 , A61B2034/2061 , A61B2034/2065 , A61B2090/3762 , G06T2207/10064 , G06T2207/10072 , G06T2207/30004
摘要： 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.
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公开(公告)号：US10896506B2
公开(公告)日：2021-01-19
申请号：US16076290
申请日：2017-02-10
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
摘要： 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 and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation 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, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.
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