公开(公告)号：US10373719B2

公开(公告)日：2019-08-06

申请号：US14845031

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G16H50/50 ,  A61B34/10 ,  A61B34/00

Abstract: A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

公开(公告)号：US20180153621A1

公开(公告)日：2018-06-07

申请号：US15574545

申请日：2016-05-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B34/37 ,  A61B10/04 ,  A61B1/05 ,  A61B34/00 ,  A61B1/267 ,  A61B34/35 ,  G06T7/33 ,  G06T7/10 ,  G06T19/00

CPC classification number: A61B34/20 ,  A61B1/0005 ,  A61B1/005 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B10/04 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B2034/2051 ,  A61B2034/2061 ,  G06T7/10 ,  G06T7/33 ,  G06T7/344 ,  G06T19/00 ,  G06T19/006 ,  G06T19/20 ,  G06T2207/10068 ,  G06T2207/30061

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US20180078318A1

公开(公告)日：2018-03-22

申请号：US15564509

申请日：2016-04-04

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 ,  A61B1/01 ,  A61B1/267 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/207 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/3945 ,  A61B2090/397

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US20240281976A1

公开(公告)日：2024-08-22

申请号：US18652927

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：US20240245476A1

公开(公告)日：2024-07-25

申请号：US18602901

申请日：2024-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

公开(公告)号：US11980344B2

公开(公告)日：2024-05-14

申请号：US16331657

申请日：2017-09-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B5/00 ,  A61B5/06 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/00149 ,  A61B1/00006 ,  A61B1/00057 ,  A61B1/0016 ,  A61B1/009 ,  A61B1/01 ,  A61B5/065 ,  A61B5/6852 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762

Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

公开(公告)号：US11957424B2

公开(公告)日：2024-04-16

申请号：US17720151

申请日：2022-04-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A system includes an interventional instrument and a control system. The control system is configured to: generate a graphical user interface (GUI) including an image of a target region for deploying the interventional instrument, wherein the target region includes a plurality of target points and is determined by a probabilistic collection of the plurality of target points, wherein a size of the target region is based at least in part on a location of a target structure within a patient anatomy; responsive to an engagement of the interventional instrument with tissue in the target region, update the GUI to include an engagement location marker; and responsive to the engagement of the interventional instrument, update the GUI to include an image of a revised target region.

公开(公告)号：US11882990B2

公开(公告)日：2024-01-30

申请号：US16481954

申请日：2018-02-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/10 ,  A61B17/00 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B34/20 ,  A61B1/005 ,  A61B1/00006 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/10 ,  A61B2017/00296 ,  A61B2034/105 ,  A61B2034/2061

Abstract: A system and method for data filtering of passageway sensor data include traversing a plurality of passageways with a flexible elongate device and recording, during the traversing, positional data using one or more sensors coupled to the flexible elongate device. The positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway. The system and method further include labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points and registering the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.

公开(公告)号：US11759262B2

公开(公告)日：2023-09-19

申请号：US15564509

申请日：2016-04-04

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

CPC classification number: A61B34/20 ,  A61B1/009 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  A61B34/10 ,  G06T7/0012 ,  G06T7/30 ,  A61B34/35 ,  A61B90/37 ,  A61B2034/104 ,  A61B2034/105 ,  A61B2034/207 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/365 ,  A61B2090/397 ,  A61B2090/3945 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US11723606B2

公开(公告)日：2023-08-15

申请号：US17127888

申请日：2020-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B5/7425 ,  A61B1/00006 ,  A61B1/000094 ,  A61B1/045 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B5/7285 ,  A61B2017/00699 ,  A61B2034/2051 ,  A61B2034/2061

Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.