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公开(公告)号：US12236602B2
公开(公告)日：2025-02-25
申请号：US18652927
申请日：2024-05-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
Abstract: 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：US12232835B2
公开(公告)日：2025-02-25
申请号：US18793544
申请日：2024-08-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
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公开(公告)号：US12161434B2
公开(公告)日：2024-12-10
申请号：US18441965
申请日：2024-02-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
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公开(公告)号：US20240390086A1
公开(公告)日：2024-11-28
申请号：US18793544
申请日：2024-08-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
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5.发明公开公开(公告)号：US20240312012A1
公开(公告)日：2024-09-19
申请号：US18674438
申请日：2024-05-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Junning Li , Pechin Chien Pau Lo , Ahmed Taha , Tao Zhao
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.
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Patent Agency Ranking
公开(公告)号：US20240293189A1
公开(公告)日：2024-09-05
申请号：US18662704
申请日：2024-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
CPC classification number: A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , G06T7/12 , G06T7/33 , G06T7/344 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
Abstract: A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.
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公开(公告)号：US12067678B2
公开(公告)日：2024-08-20
申请号：US17617869
申请日：2020-06-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Hui Zhang , Junning Li , Bai Wang , Tao Zhao
CPC classification number: G06T17/20 , A61B34/10 , G06T7/0012 , A61B2034/105 , A61B2034/107 , G06T2207/30064 , G06T2207/30101 , G06T2210/41
Abstract: An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer anatomical feature.
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公开(公告)号：US20240237912A1
公开(公告)日：2024-07-18
申请号：US18410802
申请日：2024-01-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Giuseppe Maria Prisco
IPC: A61B5/06 , A61B1/00 , A61B1/267 , A61B5/00 , A61B34/20 , G06T7/73 , A61B6/00 , A61B6/12 , A61B8/08 , A61B34/10 , A61B90/00
CPC classification number: A61B5/066 , A61B1/0005 , A61B1/2676 , A61B5/0059 , A61B5/064 , A61B34/20 , G06T7/75 , A61B6/12 , A61B6/5247 , A61B8/0841 , A61B8/5261 , A61B2034/105 , A61B2034/2065 , A61B2090/365 , G06T2207/10016 , G06T2207/10068 , G06T2207/30004
Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.
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公开(公告)号：US12011232B2
公开(公告)日：2024-06-18
申请号：US17666096
申请日：2022-02-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Timothy D. Soper , Tao Zhao , Caitlin Q. Donhowe
CPC classification number: A61B34/20 , A61B1/005 , A61B1/009 , A61B1/2676 , A61B5/064 , A61B17/00234 , A61B90/39 , A61B2017/003 , A61B2017/00809 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B34/25 , A61B2090/3614 , A61B2090/363 , A61B2090/364 , A61B2090/365 , A61B90/37 , A61B2090/371 , A61B2090/3983
Abstract: A system includes a medical instrument, a teleoperation manipulator, an optical tracking sensor, and a control system. The medical instrument includes an elongated flexible body, a rigid proximal body comprising a reference portion, and a shape sensor having a reference point. The control system is configured to: track, with the optical tracking sensor, a first set of optical fiducials on a patient anatomy and a second set of optical fiducials on the reference portion; determine, using the second set of optical fiducials, a position of the reference point for a plurality of insertion measurements of a position measuring device; receive shape information from the shape sensor; and determine a pose of a portion of the elongated flexible body with respect to the patient anatomy using the first set of optical fiducials, the position of the reference point as indicated by the position measuring device, and the shape information.
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公开(公告)号：US12004820B2
公开(公告)日：2024-06-11
申请号：US17532369
申请日：2021-11-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B5/00 , A61B5/01 , A61B5/0536 , A61B5/055 , A61B5/06 , A61B6/03 , A61B8/08 , A61B17/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B90/00 , G06T7/12 , G06T7/33
CPC classification number: A61B34/20 , A61B1/0016 , A61B5/0066 , A61B5/015 , A61B5/0536 , A61B5/055 , A61B5/062 , A61B5/066 , A61B6/032 , A61B8/0841 , A61B34/30 , A61B34/35 , A61B90/37 , G06T7/12 , G06T7/33 , G06T7/344 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2090/0811 , A61B2090/3937 , G06T2200/24 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/10116 , G06T2207/30061 , G06T2207/30172
Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches.
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