The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Feb. 11, 2020
Filed:
May. 16, 2005
Brian David Hoffman, Sunnyvale, CA (US);
David Q. Larkin, Menlo Park, CA (US);
Giuseppe Prisco, Mountain View, CA (US);
Guanghua G Zhang, San Jose, CA (US);
Rajesh Kumar, Sunnyvale, CA (US);
Brian David Hoffman, Sunnyvale, CA (US);
David Q. Larkin, Menlo Park, CA (US);
Giuseppe Prisco, Mountain View, CA (US);
Guanghua G Zhang, San Jose, CA (US);
Rajesh Kumar, Sunnyvale, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.