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:
Jun. 23, 2020
Filed:
Nov. 22, 2016
Method and system for absolute three-dimensional measurements using a twist-insensitive shape sensor
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Giuseppe M. Prisco, Calci, IT;
Theodore W. Rogers, Alameda, CA (US);
Vincent Duindam, San Francisco, CA (US);
Myriam J. Curet, Los Altos, CA (US);
Catherine J. Mohr, Mountain View, CA (US);
Katherine D. Stoy, Mountain View, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.