公开(公告)号：US10912523B2

公开(公告)日：2021-02-09

申请号：US14665650

申请日：2015-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Donhowe ,  Tao Zhao ,  Timothy Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.

公开(公告)号：US20150265368A1

公开(公告)日：2015-09-24

申请号：US14665650

申请日：2015-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Donhowe ,  Tao Zhao ,  Timothy Soper ,  Federico Barbagli

IPC: A61B19/00 ,  A61B5/00 ,  A61B5/06

CPC classification number: A61B5/7425 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/045 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B5/7285 ,  A61B34/20 ,  A61B2017/00699 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

Abstract translation: 对循环解剖运动进行建模的方法包括接收用于多个时间参数的循环移动的患者解剖结构中保持在内部并且以柔顺运动的介入仪器上的识别点的姿态数据集。 所述方法还包括针对所述多个时间参数中的每个时间参数处的参考点确定所识别的点的一组姿态差异，以及从所述一组姿态差异识别用于所述循环解剖运动的周期性信号。