公开(公告)号：US20250032198A1

公开(公告)日：2025-01-30

申请号：US18919067

申请日：2024-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06V10/74

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

公开(公告)号：US20240225746A9

公开(公告)日：2024-07-11

申请号：US18260291

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Kevin X. Pluckter ,  Timothy D. Soper ,  Troy K. Adebar

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/2065

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

公开(公告)号：US20240070883A1

公开(公告)日：2024-02-29

申请号：US18260310

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Kevin X. Pluckter ,  Troy K. Adebar

IPC: G06T7/33 ,  A61B1/00 ,  A61B1/045 ,  A61B5/06 ,  A61B34/10 ,  G06T7/50 ,  G06T17/20 ,  G06T19/20

CPC classification number: G06T7/344 ,  A61B1/00193 ,  A61B1/045 ,  A61B5/06 ,  A61B34/10 ,  G06T7/50 ,  G06T17/20 ,  G06T19/20 ,  A61B2034/105 ,  G06T2207/10028 ,  G06T2210/41 ,  G06T2219/2004

Abstract: Devices, systems, methods, and computer program products for performing a medical procedure are disclosed herein. In some embodiments, a system for performing a medical procedure in an anatomic region includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can also include a positional sensor associated with the medical instrument. The system can be configured to receive a model of the anatomic region. The system can obtain image data from the image capture device and a set of coordinate points from the positional sensor. The system can generate a registration between the model and the anatomic region based on the image data and the coordinate points.

公开(公告)号：US20250072969A1

公开(公告)日：2025-03-06

申请号：US18725235

申请日：2022-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Julie Walker ,  Troy K. Adebar ,  Cristian Bianchi ,  Zachary Moller ,  Leah Muller ,  Cynthia Warman ,  Sungwon Yoon

IPC: A61B34/10 ,  A61B34/00 ,  A61B90/00

Abstract: A system comprises a processor, a display, and a memory having computer readable instructions stored thereon that, when executed by the processor, cause the system to receive intra-operative three-dimensional image data from an imaging system. A portion of the intra-operative three-dimensional image data corresponds to an instrument disposed in a patient anatomy. The computer readable instructions, when executed by the processor, further cause the system to generate two-dimensional projection image data from the intra-operative three-dimensional image data, display the two-dimensional projection image data on the display, and identify, within the two-dimensional projection image data, a three-dimensional location of a portion of the instrument.

公开(公告)号：US20240099777A1

公开(公告)日：2024-03-28

申请号：US18260030

申请日：2021-12-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Zachary Moller ,  Benjamin G. Cohn ,  Troy K. Adebar ,  Ruchi C. Bhatt ,  George Korir ,  Cynthia Warman

IPC: A61B34/10

CPC classification number: A61B34/10 ,  A61B2034/107 ,  A61B2034/2065

Abstract: A medical system comprises a display system, an elongate device, an imaging probe configured to extend within the elongate device, and a control system communicatively coupled to the display system. The control system is configured to display a graphical user interface via the display system. The graphical user interface includes a virtual navigation view and a fluoroscopic view. The control system is further configured to: display an image of the elongate device in the virtual navigation view; determine a position of an imaging probe marker in the virtual navigation view based on a position of the imaging probe displayed in the fluoroscopic view; determine a plane of orientation of the imaging probe marker in the virtual navigation view based on an orientation of the imaging probe displayed in the fluoroscopic view; and determine an orientation indicator for the imaging probe marker in the virtual navigation view.

公开(公告)号：US20200297442A1

公开(公告)日：2020-09-24

申请号：US16638660

申请日：2018-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20

Abstract: A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.

公开(公告)号：US20240130799A1

公开(公告)日：2024-04-25

申请号：US18260291

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Kevin X. Pluckter ,  Timothy D. Soper ,  Troy K. Adebar

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/2065

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within an anatomic region and including an image capture device. The system can receive a three-dimensional (3D) model of the anatomic region, the 3D model including a model landmark corresponding to an anatomic landmark in the anatomic region. The system can obtain, via the image capture device, a plurality of images of the anatomic landmark, at least some of the images representing different views of the anatomic landmark. Based on the images, the system can determine a set of transformation parameters for aligning the anatomic landmark with the model landmark. The system can use the set of transformation parameters as a seed for registering the 3D model to the anatomic region.

公开(公告)号：US20240050160A1

公开(公告)日：2024-02-15

申请号：US18260307

申请日：2021-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Timothy D. Soper ,  Kevin X. Pluckter

IPC: A61B34/20 ,  A61B34/10 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B90/37 ,  A61B2034/105 ,  A61B2034/2065

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for performing a medical procedure includes a medical instrument configured to be inserted within the anatomic region, the medical instrument including an image capture device. The system can be configured to obtain, from the image capture device, image data of an anatomic landmark within the anatomic region. The system can identify, based on the image data, an association between the anatomic landmark and a corresponding model landmark in a model of the anatomic region. The system can determine a localization state of the medical instrument based on the identified association, the localization state including an estimated location and an uncertainty parameter associated with the estimated location. The system can dynamically update the localization state as the medical instrument navigates within the anatomic region.

公开(公告)号：US11899248B2

公开(公告)日：2024-02-13

申请号：US17193166

申请日：2021-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew D. Rohr Daniel ,  Troy K. Adebar ,  David W. Bailey ,  Stephen J. Blumenkranz ,  Edward P. Donlon ,  Mark Froggatt ,  Christopher M. Major ,  Randall L. Schlesinger

IPC: G02B6/38 ,  B08B1/00 ,  B08B1/04

CPC classification number: G02B6/3866 ,  B08B1/008 ,  B08B1/04 ,  B08B2240/02

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, a second spool onto which the cleaning tape is drawn, a drive mechanism configured to move the cleaning tape from the first spool to the second spool, and one or more first connectors configured to mate with one or more connectors of a system, the system including a first optical fiber. The optical fiber cleaning assembly further includes one or more second connectors configured to mate with one or more optical fiber connectors of a device while the optical fiber cleaning assembly is attached to the system by the one or more first connectors, the device including a second optical fiber. The drive mechanism is configured to move the cleaning tape from the first spool to the second spool to wipe the face of the first or second optical fiber.

公开(公告)号：US20230360212A1

公开(公告)日：2023-11-09

申请号：US18344789

申请日：2023-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hui Zhang ,  Cristian Bianchi ,  Troy K. Adebar ,  Carlo Camporesi ,  Sungwon Yoon

IPC: G06T7/00 ,  G06T19/20 ,  G06T7/12 ,  G06T7/30 ,  G06F3/0485

CPC classification number: G06T7/0012 ,  G06T19/20 ,  G06T7/12 ,  G06T7/30 ,  G06F3/0485 ,  G06T2219/2004 ,  G06T2207/10081 ,  G06T2207/10121 ,  G06T2207/20104

Abstract: A system may comprise a processor, a user display, and a memory storing computer readable instructions. The instructions, when executed by the processor, cause the system to obtain pre-operative image data of anatomical passages of a patient, display the pre-operative image data in a graphical user interface, record shape data for an instrument disposed in the anatomical passages of the patient during an image capture period, and receive intra-operative image data from the imaging system corresponding to the image capture period. A portion of the intra-operative image data corresponds to the instrument. The computer readable instructions further cause the system to segment the portion of the intra-operative image data corresponding to the instrument, register the intra-operative image data to the shape data by comparing the shape data to the portion of the intra-operative image data corresponding to the instrument, and update the graphical user interface.