Intuitive Surgical Operations, Inc.

Han Sen Medical, Inc.

Auris Health, Inc.

Other

Federico Barbagli

Vincent Duindam

Tao Zhao

Timothy D Soper

Christopher R Carlson

Caitlin Q Donhowe

Oliver J Wagner

Michael D Paris

Robert G Younge

Samuel Y Chang

Daniel T Wallace

Mark Earl Froggatt

Neal A Tanner

Matthew J Roelle

David B Camarillo

Aditya Koolwal

Stephen J Blumenkranz

Frederic H Moll

Dawn K Gifford

Anoop B Kowshik

Energy Cruse, Ii

Scott S Ichikawa

Aaron B Tinling

Nicola Diolaiti

Randall L Schlesinger

Sean Paul Walker

June Gyu Park

Lauren L Argo

Christopher M Sewell

Dave Camarillo

Ruchi C Bhatt

Prabu Ravindran

Lisa L Ison

David W Bailey

Prashant Chopra

David Charles Lundmark

Gregory J Stahler

Pechin Chien Pau Lo

Reuben Daniel Brewer

Tania K Morimoto

Gunter D Niemeyer

Gary S Guthart

Simon Peter DiMaio

Kenneth M Martin

David F Moore

Daniel Thomas Adams

Simon P Dimaio

Hui Zhang

Eric E Sanborn

Michael R Zinn

Bai Wang

Lucas S Gordon

Cristian Bianchi

Troy K Adebar

Samuel B Schorr

Worth B Walters

Oscar G Salazar

Joseph A Kemp

Salomon J Trujillo

Sungwon Yoon

Joseph R Callol

Energy Cruse Ii

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.

Systems and methods for registering elongate devices to three-dimensional images in image-guided procedures

A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.

Systems and methods of pose estimation and calibration of perspective imaging system in image guided surgery

A system comprises a medical instrument including a sensing tool and comprises a processing unit including one or more processors. The processing unit is configured to receive data related to a patient anatomy from the sensing tool while the medical instrument traverses the patient anatomy. The processing unit is further configured to construct an anatomic model of the patient anatomy from the data received from the sensing tool. The processing unit is further configured to generate an image of the anatomic model for display and register a position of the medical instrument to the anatomic model.

Systems and methods for intraoperative segmentation

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.

Systems and methods for planning multiple interventional procedures

A method of registering sets of anatomical data for use during a medical procedure is provided herein. The method may include accessing a first set of model points of a patient anatomy of interest and intra-operatively acquiring a second set of model points by visualizing a portion of the anatomical surface in the patient with a vision probe. The method may further include extracting system information, including kinematic information from a robotic arm of a medical system and/or setup information, and generating an initial seed transformation based on the extracted system information. Thereafter, the method may include applying the initial seed transformation to the first set of model points and generating a first registration between the first set of model points and the second set of model points to permit model and actual information to be viewed and used together by an operator.

Systems and methods for intelligently seeding registration

A system includes a medical instrument configured for movement by a teleoperational assembly and a processing unit including one or more processors. The processing unit is configured to provide instructions to the teleoperational assembly to move the medical instrument within an anatomic passageway according to a commanded velocity profile, receive a set of spatial information from the medical instrument positioned within the anatomic passageway, and filter the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.

Systems and methods for filtering localization data

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.

Systems and methods for using tracking in image-guided medical procedure

Devices, systems, methods, and computer program products for planning medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure includes a processor and memory operably coupled to the processor. The memory stores instructions that, when executed by the processor, cause the system to perform operations including receiving a three-dimensional model of an anatomic region of a patient and evaluating whether the three-dimensional model is suitable for use in a registration procedure to be performed in the anatomic region. The evaluating includes: analyzing a span of the three-dimensional model along at least two different directions, determining whether the three-dimensional model includes at least one segmented component corresponding to at least one structure of the anatomic region, and performing a registration between the three-dimensional model and a virtual registration data set.

Systems for evaluating registerability of anatomic models and associated methods

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.

Systems and methods for using registered fluoroscopic images in image-guided surgery

A teleoperative system includes a first manipulator assembly, a second manipulator assembly, a first medical instrument movable by the first manipulator assembly, a second medical instrument movable by the second manipulator assembly, a first alignment component positioned on the first manipulator assembly, a second alignment component positioned on an entry port, and a control system configured to record a position of the first manipulator assembly in response to receiving a user input indicating that the first alignment component is aligned with the second alignment component. The second medical instrument is sized and shaped to fit and move within the first medical instrument.

Systems and methods for entry point localization

A medical system includes an outer catheter comprising one or more first lumens, a sealing device coupled to the outer catheter, an inner instrument configured to be slideably deployed through one of the one or more first lumens and comprising one or more first sensors configured to detect one or more anatomical features below a surface of the anatomic passageway, one or more second sensors, and a processor. The processor is configured to detect bleeding into the anatomic passageway from outside the anatomic passageway using the one or more second sensors and disable advancement of the inner instrument when the one or more first sensors detect the one or more anatomical features. The one or more second sensors are configured to be positioned distal to the sealing device and mounted on the inner instrument near a distal end of the inner instrument.

Systems and methods of accessing encapsulated targets

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.

Systems and methods of registration compensation in image guided surgery

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.

Systems and methods for registering an instrument to an image using change in instrument position data

Systems and methods are described herein for tracking, localization or controlling an elongate instrument or other medical instrument in an image or patient.

Systems and methods for localizing, tracking and/or controlling medical instruments

Growing community of inventors

San Francisco, CA, United States of America

Federico Barbagli