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：US20210142475A1

公开(公告)日：2021-05-13

申请号：US17122788

申请日：2020-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US20240180631A1

公开(公告)日：2024-06-06

申请号：US18537517

申请日：2023-12-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00 ,  G06T7/10 ,  G06T17/00

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B90/37 ,  G06T7/0012 ,  G06T7/10 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  G06T2207/30004

Abstract: A method includes receiving anatomic image data comprising a plurality of graphical units, generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure, receiving a first indication of a first user selected graphical unit from the plurality of graphical units and a second indication of second user selected graphical unit from the plurality of graphical units, the first and second user selected graphical units being outside the initial segmented set of the plurality of graphical units, and applying a cost function to determine a path between the first and second user selected graphical units and the initial segmented set of the plurality of graphical units.

公开(公告)号：US20230252634A1

公开(公告)日：2023-08-10

申请号：US18299612

申请日：2023-04-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

CPC classification number: G06T7/0012 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20 ,  G06T2207/30101 ,  A61B2034/2065

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US20200043207A1

公开(公告)日：2020-02-06

申请号：US16528493

申请日：2019-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: G06T11/20 ,  G06T7/11 ,  G06T7/143

Abstract: A method of building an anatomical branch model comprises receiving anatomical image data comprising a plurality of graphical units associated with an anatomical structure and determining a plurality of parent segments and child segments to include a plurality of linked graphical units from the plurality of graphical units. The method also comprises determining a set of relationships between the parent segments and the child segments and generating an image of the anatomical branch model based on the determined set of relationships between the parent segments and the child segments.

公开(公告)号：US12299873B2

公开(公告)日：2025-05-13

申请号：US17435833

申请日：2020-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Shiyang Chen ,  Pechin Chien Pau Lo ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/00 ,  A61B90/00 ,  G06T7/10

Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

公开(公告)号：US12033325B2

公开(公告)日：2024-07-09

申请号：US18299612

申请日：2023-04-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/12 ,  A61B34/10 ,  A61B34/20 ,  G06T7/00

CPC classification number: G06T7/0012 ,  A61B34/10 ,  A61B34/20 ,  G06T7/12 ,  A61B2034/2065 ,  G06T2207/30101

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting at least one of a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The weighting that at least one of the plurality of volumetric units includes applying a weight based on a foreground structure classification. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US11896316B2

公开(公告)日：2024-02-13

申请号：US16536591

申请日：2019-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00 ,  G06T7/00 ,  G06T7/10 ,  G06T17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B90/37 ,  G06T7/0012 ,  G06T7/10 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/374 ,  A61B2090/378 ,  A61B2090/3735 ,  A61B2090/3762 ,  G06T2207/30004

Abstract: A method includes receiving anatomic image data comprising a plurality of graphical units; generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure; receiving an indication of a first user selected graphical unit, the first user selected graphical unit being outside the initial segmented set of the plurality of graphical units; applying a cost function to determine a first sequence of graphical units from the first user selected graphical unit to the initial segmented set of graphical units; receiving an indication of a second user selected graphical unit, the second user selected graphical unit being selected from the first sequence of the plurality of graphical units; and applying the cost function to determine a second sequence of the plurality of graphical units from the second user selected graphical unit to the initial segmented set of the plurality of graphical units.

公开(公告)号：US11657502B2

公开(公告)日：2023-05-23

申请号：US17122788

申请日：2020-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

CPC classification number: G06T7/0012 ,  A61B34/10 ,  A61B34/20 ,  G06T7/12 ,  A61B2034/2065 ,  G06T2207/30101

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

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.