公开(公告)号：US20180035895A1

公开(公告)日：2018-02-08

申请号：US15783967

申请日：2017-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. HERZLINGER ,  Giuseppe Maria PRISCO ,  Vincent DUINDAM ,  David Q. LARKIN

IPC: A61B5/00 ,  A61B1/267 ,  A61B1/00 ,  A61B1/06 ,  A61B5/08

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.

公开(公告)号：US20190209016A1

公开(公告)日：2019-07-11

申请号：US16355366

申请日：2019-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. HERZLINGER ,  Giuseppe Maria PRISCO ,  Vincent DUINDAM ,  David Q, LARKIN

IPC: A61B5/00 ,  A61B1/00 ,  A61B1/06 ,  A61B1/267

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.

公开(公告)号：US20200242767A1

公开(公告)日：2020-07-30

申请号：US16076290

申请日：2017-02-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao ZHAO ,  Federico BARBAGLI ,  Caitlin Q DONHOWE ,  Vincent DUINDAM ,  Micheal D. PARIS ,  Timothy D. SOPER ,  Oliver J. WAGNER

IPC: G06T7/00 ,  G06T11/00 ,  A61B6/12 ,  A61B6/00 ,  A61B34/20

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.

公开(公告)号：US20180228548A1

公开(公告)日：2018-08-16

申请号：US15570912

申请日：2016-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. BLUMENKRANZ ,  Vincent DUINDAM ,  Mark E. FROGGATT ,  Eric E. SANBORN

IPC: A61B34/20 ,  G02B23/26

CPC classification number: A61B34/20 ,  A61B1/00165 ,  A61B1/0051 ,  A61B1/07 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M2025/0166 ,  G02B6/36 ,  G02B23/26

Abstract: A flexible tool includes an optical fiber including a proximal region, a distal region, an intermediate portion between the proximal region and the distal region and an bending region between the proximal region and the intermediate portion, wherein the intermediate portion is constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The optical fiber may be used to provide shape sensing of the flexible tool.

公开(公告)号：US20170000984A1

公开(公告)日：2017-01-05

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent DUINDAM ,  Catherine J. MOHR ,  Carolyn M. FENECH ,  Giuseppe Maria PRISCO ,  Samuel Kwok Wai AU ,  Caitlin Q. DONHOWE

IPC: A61M25/06 ,  A61M25/01 ,  A61B5/06 ,  A61B1/01 ,  A61B1/00 ,  A61B10/04

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/0052 ,  A61B1/0057 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B5/6852 ,  A61B10/02 ,  A61B10/04 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

Abstract translation: 医疗系统包括导管和视觉探头，其可以从导管移除并用医疗探针代替。 因此，可以使用视觉探针来引导和构成导管，然后当执行诸如肺活检的医疗任务时，将其移除并替换为医疗探针。 导管中的传感器系统至少部分地测量导管的姿势，并且当使用医疗探针时，控制逻辑控制导管的致动以维持期望的工作构型。 因此，小直径导管可以提供视力和活检功能。

公开(公告)号：US20160206384A1

公开(公告)日：2016-07-21

申请号：US14916854

申请日：2014-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DIMAIO ,  Vincent DUINDAM ,  David Q. LARKIN

IPC: A61B34/20 ,  A61B17/32 ,  A61B5/053 ,  A61B17/17 ,  A61B46/00 ,  A61B10/04

CPC classification number: A61B34/20 ,  A61B5/0538 ,  A61B10/04 ,  A61B17/16 ,  A61B17/1703 ,  A61B17/320016 ,  A61B34/30 ,  A61B46/00 ,  A61B2017/081 ,  A61B2018/00577 ,  A61B2034/2061 ,  A61B2090/0803 ,  A61B2562/0266

Abstract: A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.

Abstract translation: 一种方法包括从第一形状传感器中的第一细长光纤部分接收第一形状数据。 第一细长光纤部分在参考固定装置和耦合到患者解剖结构的第一解剖固定装置之间延伸。 所述方法还包括从所述第一形状数据确定所述第一解剖夹具的姿态并跟踪所述第一解剖固定装置的姿势变化。