公开(公告)号：US20210267695A1

公开(公告)日：2021-09-02

申请号：US17258705

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew J. HAZELTON ,  Teresa G. GADDA ,  Changmeng LIU

IPC: A61B34/20 ,  A61B17/00

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.