Intuitive Surgical Operations, Inc.

University of Washington

Qatar University Al Tarfa

Timothy D Soper

Vincent Duindam

Tao Zhao

Federico Barbagli

Caitlin Q Donhowe

Eric J Seibel

Michael D Paris

Oliver J Wagner

Christopher R Carlson

Robb W Glenny

Stephen J Blumenkranz

Prashant Chopra

Randall L Schlesinger

Hui Zhang

Anoop B Kowshik

Cristian Bianchi

Troy K Adebar

Teresa G Gadda

Leonard Y Nelson

Pechin Chien Pau Lo

Chenying Yang

Woon Jong Yoon

Matthew R Burkhardt

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

Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

Systems and methods for monitoring patient motion during a medical procedure

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 receives a first set of points corresponding to an anatomical feature. Each point in the first set of points represents a position in a first frame. The system receives a second set of points corresponding to the anatomical feature. Each point in the second set of points represents a position in a second frame. The system identifies a first subset of the first set of points and determines a first transformation to align the first subset of the first set of points with the second set of points. The first set of points is transformed based on the first transformation. The system identifies a second subset of the first set of points and determines a second transformation to align the first and second subsets of the first set of points with the second set of points. The first set of points are transformed based on the second transformation.

Systems and methods for progressive registration

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

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 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.

A method includes collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient in which the measured points are based on a position of the flexible catheter in a patient space, assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways, comparing the plurality of subsets to identify an optimal subset of the plurality of subsets, and registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.

Systems and methods of continuous registration for image-guided surgery

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 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.

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San Jose, CA, United States of America

Timothy D Soper