Intuitive Surgical Operations, Inc.

Sri International

Sarnoff Corporation

Other

Tao Zhao

Wenyi Zhao

Vincent Duindam

Prashant Chopra

Brandon D Itkowitz

Brian David Hoffman

Timothy D Soper

Federico Barbagli

Caitlin Q Donhowe

Simon Peter DiMaio

David Q Larkin

Christopher J Hasser

Catherine J Mohr

Dorin Panescu

Simon P Dimaio

Paul W Mohr

David D Scott

Daniel J Halabe

Jonathan Michael Sorger

Pechin Chien Pau Lo

Paul E Lilagan

Giuseppe Maria Prisco

Stephen J Blumenkranz

William C Nowlin

John Ryan Steger

Michael D Paris

Oliver J Wagner

Lei Xu

David W Robinson

John D Stern

Carol Reiley

Manoj Aggarwal

Junning Li

Simon Di Maio

Chenyu Wu

David Hirvonen

Bai Wang

Ahmed Taha

Ambarish G Goswami

Harpreet Singh Sawhney

Rakesh Kumar

Jeffrey M DiCarlo

Hui Zhang

Geoff Richmond

Keith James Hanna

Paul G Griffiths

Joseph Orban, Iii

Christopher R Carlson

Tyler J Morrissette

Jason W Hemphill

Dinesh Rabindran

David Kalokitis

Energy Cruse, Ii

Brian Edward Miller

Christopher R Burns

Patrick O'Grady

Hubert Stein

David R Patterson

Lei Fan

Changyeob Shin

Jun Ma

Rodney Vance

Myrian J Curet

Changjiang Yang

Bruce M Schena

Ian E McDowall

David W Bailey

Supun Samarasekera

Alan Eton Loh

Lawton N Verner

Vincent Paragano

Aydin Arpa

Aaron B Tinling

Scott S Ichikawa

Lucas S Gordon

James Timothy Kaba

Myriam J Curet

Troy K Adebar

John A Cole

Oscar G Salazar

Karlin Y Bark

Thomas Germano

Weny Zhao

Hua Hui

Sungwon Yoon

Sida Li

Shunguang Wu

Joy Janku

Suin-Chuon Mau

Shiyang Chen

A method performed by a computing system comprises receiving a first set of spatial information from an instrument positioned within an anatomic passageway. The first set of spatial information includes a plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods. The method further comprises ordering the plurality of spatial data records in a time-gathered order. The method further comprises evaluating a spatial relationship between first and second consecutive spatial data records of the plurality of spatial data records. The method further comprises filtering the first set of spatial information based upon the evaluated spatial relationship.

Systems and methods for navigation based on ordered sensor records

A system for performing an interventional procedure includes an interventional instrument and a control system. The control system includes a processor and a memory comprising machine-readable instructions that, when executed by the processor, cause the control system to: receive a model of an anatomic structure, the anatomic structure including a plurality of passageways; identify a target structure in the model; identify a planned deployment location for positioning a distal tip of the interventional instrument to perform the interventional procedure on the target structure; determine whether an angle of approach of the distal tip relative to a passageway wall of a passageway of the plurality of passageways at the planned deployment location is acceptable; and navigate the interventional instrument, via computer control or based on user input, to perform the interventional procedure on the target structure.

Systems and methods for interventional procedure planning

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).

Systems and methods for robotic medical system integration with external imaging

A medical system comprises a display system, a user input device, and a control system communicatively coupled to the display system and the user input device. The control system is configured to display image data of an anatomical region via the display system, determine a target location in the anatomical region, and determine an anatomical boundary based on the target location. The anatomical boundary indicates a surface of an anatomical structure in the anatomical region. The control system is further configured to determine a trajectory zone around a path between an exit point and the target location. The control system is further configured to determine a zone boundary based on an intersection of the trajectory zone with the anatomical boundary.

Systems and methods for automatically generating an anatomical boundary

A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

Systems and methods for segmentation of anatomical structures for image-guided surgery

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 control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

Estimation of a position and orientation of a frame used in controlling movement of a tool

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

Synthetic representation of a surgical robot

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.

Systems and methods of registration for image-guided surgery

Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

Method and system for control using hand tracking

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 system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

Systems and methods for connecting segmented structures

A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.

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Sunnyvale, CA, United States of America

Tao Zhao