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31. 发明授权

US10039473B2 Systems and methods for navigation based on ordered sensor records 有权
公开(公告)号：US10039473B2
公开(公告)日：2018-08-07
申请号：US13892974
申请日：2013-05-13
申请人： Intuitive Surgical Operations, Inc.
发明人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
IPC分类号： A61B5/06 , A61B5/00 , A61B34/20
摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

32. 发明申请

US20180126559A9 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 审中-公开
公开(公告)号：US20180126559A9
公开(公告)日：2018-05-10
申请号：US15629533
申请日：2017-06-21
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： B25J9/16 , G05B19/42 , A61B34/30 , A61B34/00 , A61B34/37 , A61B90/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

33. 发明申请

US20170311844A1 Determining Position of Medical Device in Branched Anatomical Structure 审中-公开
公开(公告)号：US20170311844A1
公开(公告)日：2017-11-02
申请号：US15486246
申请日：2017-04-12
申请人： Intuitive Surgical Operations, Inc.
发明人： Tao Zhao , Giuseppe Maria Prisco
IPC分类号： A61B5/06 , A61B34/20 , G06T7/73 , A61B1/00 , A61B1/267 , A61B5/00 , A61B6/00 , A61B6/12 , A61B34/10 , A61B90/00 , A61B8/08
CPC分类号： A61B5/066 , A61B1/0005 , A61B1/2676 , A61B5/0059 , A61B5/064 , A61B6/12 , A61B6/5247 , A61B8/0841 , A61B8/5261 , A61B34/20 , A61B2034/105 , A61B2034/2065 , A61B2090/365 , G06T7/75 , G06T2207/10016 , G06T2207/10068 , G06T2207/30004
摘要： Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

34. 发明授权

US09743989B2 Method and system for hand presence detection in a minimally invasive surgical system 有权
公开(公告)号：US09743989B2
公开(公告)日：2017-08-29
申请号：US14551495
申请日：2014-11-24
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
IPC分类号： A61B19/00 , A61B17/16 , B25J9/16 , B25J13/08 , G05B15/02 , A61B34/30 , A61B34/37 , A61B34/35 , A61B90/98 , A61B17/00 , A61B34/20 , A61B90/00 , A61B34/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/98 , A61B2017/00207 , A61B2017/00221 , A61B2034/2051 , A61B2034/2055 , A61B2034/741 , A61B2090/3937 , A61B2090/3945 , A61B2090/397 , B25J9/1612 , B25J13/086 , G05B15/02 , Y10S901/02 , Y10S901/46
摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

35. 发明申请

US20150150435A1 THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA 审中-公开
标题翻译：三维目标设备，组装和校准内窥镜相机的方法
公开(公告)号：US20150150435A1
公开(公告)日：2015-06-04
申请号：US14563558
申请日：2014-12-08
申请人： Intuitive Surgical Operations, Inc.
发明人： Tyler J. Morrissette , Tao Zhao , Joseph P. Orban, III , Brian David Hoffman
IPC分类号： A61B1/00
CPC分类号： A61B1/00057 , A61B1/00193
摘要： The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.
摘要翻译：本公开涉及用于诸如立体内窥镜的成像系统的校准目标装置，组件和方法。校准组件包括：目标表面在三维上延伸有校准标记和具有接合内窥镜的界面的主体，使得标记在视野内。第一校准标记沿着目标表面的第一平面延伸，并且第二标记沿着目标表面的第二平面延伸。相对于通过内窥镜观察的视野，平面是不同的和不对称的。特别地，三维目标使得能够使用单个图像（或立体内窥镜的一对图像）进行内窥镜校准，以减少校准过程的复杂性，校准时间和错误的机会以及允许在不同焦点的相机的有效校准职位

36. 发明申请

US20150080909A1 Method and System for Hand Presence Detection in a Minimally Invasive Surgical System 审中-公开
标题翻译：微创手术系统中手部检测的方法和系统
公开(公告)号：US20150080909A1
公开(公告)日：2015-03-19
申请号：US14551495
申请日：2014-11-24
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
IPC分类号： A61B19/00 , G05B15/02
CPC分类号： A61B34/37 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/98 , A61B2017/00207 , A61B2017/00221 , A61B2034/2051 , A61B2034/2055 , A61B2034/741 , A61B2090/3937 , A61B2090/3945 , A61B2090/397 , B25J9/1612 , B25J13/086 , G05B15/02 , Y10S901/02 , Y10S901/46
摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
摘要翻译：在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。基于人手部分的位置生成系统控制参数。使用系统控制参数控制微创手术系统的操作。因此，微创手术系统包括手跟踪系统。手跟踪系统跟踪人手部分的位置。耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。

37. 发明申请

US20140343416A1 SYSTEMS AND METHODS FOR ROBOTIC MEDICAL SYSTEM INTEGRATION WITH EXTERNAL IMAGING 有权
标题翻译：机器人医学系统与外部成像整合的系统与方法
公开(公告)号：US20140343416A1
公开(公告)日：2014-11-20
申请号：US14278812
申请日：2014-05-15
申请人： Intuitive Surgical Operations, Inc.
发明人： Dorin Panescu , Jonathan Michael Sorger , Prashant Chopra , Tao Zhao
IPC分类号： A61B19/00
CPC分类号： A61B34/32 , A61B17/00234 , A61B17/3478 , A61B34/10 , A61B34/30 , A61B2034/105 , A61B2034/107 , A61B2034/2065 , A61B2034/302 , A61B2034/306 , A61N5/1077 , G06F19/00
摘要： 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).
摘要翻译：一种医疗机器人系统及其操作方法包括：获取患者解剖结构的术中外部图像数据，并使用该图像数据生成用于医疗机器人系统的控制系统的建模调整（例如，更新解剖模型和/或精炼仪器注册）和/或调整程序控制方面（例如，调节物质或治疗递送，改善靶向性和/或跟踪性能）。

38. 发明申请

US20140275997A1 SHAPE SENSOR SYSTEMS FOR TRACKING INTERVENTIONAL INSTRUMENTS AND MEHODS OF USE 有权
标题翻译：用于跟踪传统仪器和使用方式的形状传感器系统
公开(公告)号：US20140275997A1
公开(公告)日：2014-09-18
申请号：US14204807
申请日：2014-03-11
申请人： Intuitive Surgical Operations, Inc.
发明人： Prashant Chopra , Vincent Duindam , Tao Zhao , John A. Cole
IPC分类号： A61B5/06
CPC分类号： A61B5/064 , A61B5/6879 , A61B34/20 , A61B34/30 , A61B2034/105 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2090/363 , A61B2090/3937 , A61B2090/3966 , A61B2560/0456
摘要： A medical tracking system comprises a fiducial apparatus that includes a sensor docking feature configured to mate with a mating portion of a sensor device. The sensor docking feature retains the mating portion in a known configuration. The fiducial apparatus also includes at least one imageable fiducial marker and a surface configured for attachment to an anatomy of a patient.
摘要翻译：医疗跟踪系统包括基准装置，其包括配置成与传感器装置的配合部分配合的传感器对接特征。传感器对接特征将配合部分保持在已知的配置中。基准装置还包括至少一个可成像的基准标记和被配置为附接到患者的解剖结构的表面。

39. 发明申请

US20140180063A1 DETERMINING POSITION OF MEDICAL DEVICE IN BRANCHED ANATOMICAL STRUCTURE 审中-公开
标题翻译：确定分支解剖结构中医疗器械的位置
公开(公告)号：US20140180063A1
公开(公告)日：2014-06-26
申请号：US14048331
申请日：2013-10-08
申请人： Intuitive Surgical Operations, Inc.
发明人： Tao Zhao , Giuseppe Maria Prisco
IPC分类号： A61B5/06
CPC分类号： A61B5/066 , A61B1/0005 , A61B1/2676 , A61B5/0059 , A61B5/064 , A61B6/12 , A61B6/5247 , A61B8/0841 , A61B8/5261 , A61B34/20 , A61B2034/105 , A61B2034/2065 , A61B2090/365 , G06T7/75 , G06T2207/10016 , G06T2207/10068 , G06T2207/30004
摘要： Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.
摘要翻译：从从解剖结构移动的医疗装置的远端的角度拍摄的连续图像提取的信息与从解剖结构的计算机模型提取的相应信息进行比较。然后使用与一组潜在匹配相关联的概率来确定从顺序图像提取的信息和从计算机模型提取的对应信息之间的最可能匹配，以将解剖结构的计算机模型注册到医疗装置，从而确定医疗设备当前处于解剖结构的内腔。传感器信息可用于限制潜在匹配的集合。与图像序列和潜在匹配集相关联的特征属性可以作为确定最可能匹配的一部分进行定量比较。

40. 发明公开

US20240289958A1 SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY 审中-公开
公开(公告)号：US20240289958A1
公开(公告)日：2024-08-29
申请号：US18653066
申请日：2024-05-02
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Tao Zhao , Federico Barbagli , Caitlin Q. Donhowe , Vincent Duindam , Michael D. Paris , Timothy D. Soper , Oliver J. Wagner
IPC分类号： G06T7/00 , A61B6/00 , A61B6/12 , A61B34/10 , A61B34/20 , A61B90/00 , G06T11/00
CPC分类号： 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
摘要： 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.

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