Intuitive Surgical Operations, Inc.

Intuitive Surgical Opeartions, Inc.

Vincent Duindam

Timothy D Soper

Tao Zhao

Caitlin Q Donhowe

Federico Barbagli

Giuseppe Maria Prisco

Prashant Chopra

Oliver J Wagner

David Q Larkin

Christopher R Carlson

Carolyn M Fenech

Michael D Paris

Catherine J Mohr

Theodore W Rogers

Dorin Panescu

Energy Cruse, Ii

Anoop B Kowshik

Lauren L Argo

Scott S Ichikawa

Aaron B Tinling

Katherine D Stoy

Myriam J Curet

Lei Xu

Stephen J Blumenkranz

Nicola Diolaiti

Simon Peter DiMaio

Samuel Y Chang

Cristian Bianchi

Randall L Schlesinger

Peter M Herzlinger

Troy K Adebar

Eleadin Castaneda

Ruchi C Bhatt

Lei Fan

Mark Earl Froggatt

John Ryan Steger

David W Bailey

Samuel Kwok Wai Au

Eric E Sanborn

Carol Reiley

Reuben Daniel Brewer

Teresa G Gadda

Tania K Morimoto

Simon P Dimaio

Lucas S Gordon

Kwok Wai Samuel Au

Samuel B Schorr

John A Cole

Worth B Walters

Joseph A Kemp

Guiseppe Maria Prisco

Salomon J Trujillo

Joseph R Callol

Energy Cruse Ii

John Cole

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 method includes collecting, from an optical fiber shape sensor extending within an instrument coupled to a teleoperational system, spatial information as a reference point of a proximal portion of the instrument is positioned at a plurality of locations along an insertion path and receiving, from a position sensor for a drive system of the teleoperational system, position information when the reference point is at each of the plurality of locations along the insertion path. The method further includes, based on the position information from the position sensor and the spatial information from the optical fiber shape sensor, determining relative position data for the reference point and, based on the relative position data, determining an orientation of an insertion stage defining the insertion path along which the proximal portion of the instrument moves.

Systems and methods of registration for image guided surgery

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 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

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 robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument further includes a sensor apparatus configured to generate sensor data about the flexible section and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to at least the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding stiffness of the surgical instrument to derive an internal actuation force applied by the force transmission mechanism.

Arm with a combined shape and force sensor

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 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 medical system including a catheter, a sheath, and a control system. The catheter includes a lumen, a distal steerable segment, and a distal tip. The sheath is disposed within the lumen of the catheter and the sheath is extendable from the distal tip of the catheter. The control system is coupled to the catheter and includes a memory operable to store desired position coordinates and a plurality of modes including a stiffening mode in which the control system actively maintains the distal tip at the desired position coordinates.

Catheters with control modes for interchangeable probes

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.

Systems and methods for configuring components in a minimally invasive instrument

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

A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Steerable flexible needle with embedded shape sensing

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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San Francisco, CA, United States of America

Vincent Duindam