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:
Jan. 19, 2021
Filed:
Feb. 10, 2017
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Tao Zhao, Sunnyvale, CA (US);
Federico Barbagli, San Francisco, CA (US);
Caitlin Q. Donhowe, Mountain View, CA (US);
Vincent Duindam, San Francisco, CA (US);
Michael D. Paris, San Francisco, CA (US);
Timothy D. Soper, San Jose, CA (US);
Oliver J. Wagner, Mountain View, CA (US);
Intuitive Surgical Operations, Inc, Sunnyvale, CA (US);
Abstract
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 and sensed orientation in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position and an extracted orientation 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, the extracted position of the portion, the sensed orientation of the portion, and the extracted orientation of the portion.