公开(公告)号：US12150718B2

公开(公告)日：2024-11-26

申请号：US18365710

申请日：2023-08-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10 ,  A61B34/35 ,  G06T7/00 ,  G06T7/30 ,  A61B34/30 ,  A61B90/00 ,  G06T7/38

Abstract: A system includes a fixture having a known location in a surgical reference frame, a medical instrument, a position measuring device, and a computing system. The fixture includes a constraint structure having a known constraint structure pose in the surgical reference frame. The medical instrument includes a reference portion movably coupled to the fixture, an elongate flexible portion coupled to the reference portion, wherein the elongate flexible portion is sized to pass through the constraint structure, and a shape sensor. The position measuring device measures motion of the reference portion with respect to the fixture. The computing system is configured to receive shape information for the medical instrument, receive reference portion position information in the surgical reference frame, determine an estimated constraint structure pose from the reference portion position information and the shape information, determine a correction factor, and modify the shape information based upon the correction factor.

公开(公告)号：US12114936B2

公开(公告)日：2024-10-15

申请号：US17576696

申请日：2022-01-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/20 ,  A61B5/06 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2090/0818

Abstract: A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

公开(公告)号：US12082920B2

公开(公告)日：2024-09-10

申请号：US18311031

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/05 ,  A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US20240289958A1

公开(公告)日：2024-08-29

申请号：US18653066

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

IPC: G06T7/00 ,  A61B6/00 ,  A61B6/12 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G06T11/00

CPC classification number: G06T7/0014 ,  A61B6/12 ,  A61B6/487 ,  A61B6/5235 ,  A61B34/10 ,  A61B34/20 ,  G06T11/003 ,  A61B6/5247 ,  A61B2034/105 ,  A61B2034/2046 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2090/3762 ,  G06T2207/10064 ,  G06T2207/10072 ,  G06T2207/30004

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：US20240277421A1

公开(公告)日：2024-08-22

申请号：US18653383

申请日：2024-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao ,  Caitlin Q. Donhowe

IPC: A61B34/20 ,  A61B1/005 ,  A61B1/267 ,  A61B5/06 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B90/00

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 method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.

公开(公告)号：US12059223B2

公开(公告)日：2024-08-13

申请号：US17675687

申请日：2022-02-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B5/00 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/301

Abstract: A medical apparatus for guiding an elongated flexible instrument includes an elongated support assembly having a longitudinal axis. The elongated support assembly is adapted to laterally receive into engagement and longitudinally support the elongated flexible instrument. The elongated support assembly includes a guide channel configured to laterally receive the elongated flexible instrument, a fastener configured to laterally receive a mating fastener component of the elongated flexible instrument, or an undulated lateral opening extending longitudinally along the elongated support assembly.

公开(公告)号：US11992188B2

公开(公告)日：2024-05-28

申请号：US18308906

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B1/005 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/0051 ,  A61B1/005 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/76 ,  A61B2017/0011 ,  A61B2017/00115 ,  A61B2017/00296 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2562/0261

Abstract: A medical system includes a flexible elongate instrument and a control unit. The control unit is configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, determine a driving state of the flexible elongate instrument, set a force threshold based on the driving state, and provide feedback to an operator in response to the determined force being higher than the force threshold. Different driving states are associated with different force thresholds.

公开(公告)号：US20240065769A1

公开(公告)日：2024-02-29

申请号：US18465876

申请日：2023-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T19/20

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T19/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T2210/41 ,  G06T2219/2021

Abstract: A non-transitory machine-readable media stores instructions that, when run by one or more processors, cause the one or more processors to store a deformable model of a patient anatomy and deform the deformable model based on a measured deformation of a branched anatomical structure of the patient anatomy. The deformable model includes a skeleton tree of nodes and linkages representing the branched anatomical structure of the patient anatomy. Each of the nodes is located at a respective bifurcation of the branched anatomical structure, and at each respective bifurcation the corresponding linkages include an orientation. The deformable model is deformed by modifying the orientations of the linkages of the branched anatomical structure.

公开(公告)号：US11903777B2

公开(公告)日：2024-02-20

申请号：US16763171

申请日：2018-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Joseph A Kemp ,  Federico Barbagli ,  Joseph R. Callol ,  Vincent Duindam ,  Lucas S. Gordon ,  Randall L. Schlesinger ,  Samuel B. Schorr ,  Worth B. Walters

IPC: A61B90/70 ,  A61M25/00 ,  A61M39/22 ,  A61B17/00 ,  G01F13/00 ,  G05D7/06 ,  A61B34/20 ,  A61B34/37 ,  A61B1/12 ,  A61B1/267

CPC classification number: A61B90/70 ,  A61B17/00234 ,  A61M25/00 ,  A61M39/223 ,  G01F13/00 ,  G05D7/0623 ,  A61B1/125 ,  A61B1/2676 ,  A61B34/37 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2090/701 ,  A61B2217/005 ,  A61B2217/007 ,  A61M2025/0019 ,  A61M2205/3334 ,  A61M2205/50

Abstract: A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.

公开(公告)号：US20240041531A1

公开(公告)日：2024-02-08

申请号：US18457815

申请日：2023-08-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B34/10 ,  G06T7/11 ,  G06T7/30 ,  A61B6/032 ,  A61B6/466 ,  A61B1/000094 ,  A61B1/009 ,  A61B10/02

Abstract: A medical system comprises an instrument comprising a position sensor and a radiopaque fiducial. The system further comprises a tracking system to receive position data from the sensor, and a processor coupled to the instrument and the tracking system. The position data is in an instrument reference frame. The processor is configured to: receive external image data of a patient anatomy with the instrument disposed therein—the external image data is in an image reference frame; based on the position data, determine a first orientation of the instrument in the instrument reference frame; identify the radiopaque fiducial in the external image data; based on the identified radiopaque fiducial, determine a second orientation of the instrument in the image reference frame; and register the instrument reference frame to the image reference frame by comparing the first orientation in the instrument reference frame to the second orientation in the image reference frame.