公开(公告)号：US20170151026A1

公开(公告)日：2017-06-01

申请号：US15428273

申请日：2017-02-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Jonathan Michael Sorger ,  Prashant Chopra ,  Tao Zhao

IPC: A61B34/32 ,  A61B34/10 ,  A61B17/00 ,  A61N5/10

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306 ,  A61N5/1077

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).

公开(公告)号：US20160302869A1

公开(公告)日：2016-10-20

申请号：US15101518

申请日：2014-12-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra

IPC: A61B34/20 ,  A61B5/06 ,  G06F19/00 ,  A61B5/00 ,  A61B5/08 ,  A61B34/35 ,  A61B1/267

CPC classification number: A61B34/20 ,  A61B1/267 ,  A61B1/2676 ,  A61B5/062 ,  A61B5/066 ,  A61B5/08 ,  A61B5/6852 ,  A61B18/1492 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B2017/00203 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/064 ,  A61B2090/065 ,  A61M2025/0166 ,  G16H50/50

Abstract: Described herein is a method of determining the accurate positioning of a device within a patient anatomy. In one aspect, the method comprises generating a first model of at least one anatomical passageway from anatomical data describing the patient anatomy, determining a shape of a device positioned within branched anatomical passageways of the patient anatomy, the device including a plurality of sections, each section of the plurality of sections having a distinct physical property, computing a set of deformation forces for each section of the plurality of sections of the device, and generating a second model of the device positioned within the plurality of branched anatomical passageways by adjusting the first model based upon the determined shape of the device and the set of deformation forces for each section of the plurality of sections of the device.

Abstract translation: 这里描述的是确定装置在患者解剖结构内的准确定位的方法。 在一个方面，该方法包括从描述患者解剖结构的解剖学数据生成至少一个解剖通道的第一模型，确定位于患者解剖结构的分支解剖通道内的装置的形状，该装置包括多个部分 所述多个部分的截面具有不同的物理属性，计算所述装置的所述多个部分中的每个部分的变形力的集合，以及通过调整所述第一部分的所述第一部分来调整所述多个分支解剖通道中的所述装置的第二模型 模型基于所确定的装置的形状和装置的多个部分的每个部分的变形力的集合。

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。

公开(公告)号：US20150223765A1

公开(公告)日：2015-08-13

申请号：US14613221

申请日：2015-02-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra

IPC: A61B6/12 ,  A61B6/00 ,  A61B6/02 ,  A61B5/06

CPC classification number: A61B6/12 ,  A61B1/005 ,  A61B1/0607 ,  A61B5/065 ,  A61B6/025 ,  A61B6/4057 ,  A61B6/547

Abstract: A device is provided that comprises: a flexible body; a position sensor located at the flexible body; and a field emission x-ray device located at the flexible body.

Abstract translation: 提供一种装置，包括：柔性体; 位于柔性体上的位置传感器; 以及位于柔性体上的场发射x射线装置。

公开(公告)号：US20140051986A1

公开(公告)日：2014-02-20

申请号：US13964704

申请日：2013-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/06

CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B5/062 ,  A61B34/20 ,  A61B2034/2065 ,  G06T7/33 ,  G06T2207/10068 ,  G06T2207/30021

Abstract: A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.

Abstract translation: 一种方法包括生成解剖区域的模型并从位于解剖区域内的内窥镜图像捕获探针接收真实图像。 该方法还包括识别真实图像中的真实基准区域并且识别解剖区域的模型中的多个虚拟组织结构。 该方法还包括将多个虚拟组织结构中的一个与真实基准区域进行匹配，并从多个虚拟组织结构中匹配的一个虚拟组织结构确定内窥镜图像捕获探针的探测姿势。

公开(公告)号：US20130303894A1

公开(公告)日：2013-11-14

申请号：US13893040

申请日：2013-05-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06

CPC classification number: A61B5/066 ,  A61B5/00 ,  A61B5/061 ,  A61B5/065 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B2017/00809 ,  A61B2034/108 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365 ,  G06T7/0012

Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.

Abstract translation: 一种方法包括识别患者解剖结构的存储图像中的连接的解剖结构，并且生成表示所连接的解剖结构的多个圆柱形连杆元件。 该方法还包括接收对应于定位在所连接的解剖结构中的至少一个中的仪器上的点的跟踪数据; 并将仪器上的点与多个圆柱形联动元件中的一个相匹配。

公开(公告)号：US20250064338A1

公开(公告)日：2025-02-27

申请号：US18949201

申请日：2024-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  G06T7/00

Abstract: A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage element

公开(公告)号：US12226202B2

公开(公告)日：2025-02-18

申请号：US18405859

申请日：2024-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Prashant Chopra

IPC: A61B5/05 ,  A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B34/20 ,  G06T7/33

Abstract: A system comprises a processor and a memory storing computer-readable instructions that, when executed by the processor, cause the system to: define a subregion of a model of an anatomic region, the subregion including a plurality of virtual tissue structures and corresponding to an area surrounding a tip of an image capture probe located within the anatomic region; compare a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures; based on the comparison, determine a respective similarity measure between the image and each virtual tissue structure; identify a closest matched virtual tissue structure based on the determined similarity measures; and based on identifying the closest matched virtual tissue structure, register the image to the model to determine a virtual position for the image capture probe with respect to the model.

公开(公告)号：US12171543B2

公开(公告)日：2024-12-24

申请号：US18339178

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Prashant Chopra

IPC: A61B5/06 ,  A61B5/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T7/00 ,  A61B17/00 ,  A61B90/00

Abstract: A medical system includes an elongate instrument, a tracking system, and one or more processors. The tracking system is disposed along at least a portion of the elongate instrument. The one or more processors are coupled to the tracking system and are configured to: generate a plurality of linked bounded-surface elements corresponding to a set of connected passageways of a patient anatomy; receive shape information from the tracking system, the shape information indicating a shape of at least a portion of the elongate instrument when the portion is disposed in the set of connected passageways; register the shape information to the plurality of linked bounded-surface elements; and based on the registering, display a composite image including an instrument image of the elongate instrument displayed within a model of the set of connected passageways.

公开(公告)号：US12161423B2

公开(公告)日：2024-12-10

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

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.