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:
Apr. 06, 2021
Filed:
Nov. 12, 2019
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Prashant Chopra, Foster City, CA (US);
Vincent Duindam, San Francisco, CA (US);
Lei Xu, Mountain View, CA (US);
Tao Zhao, Sunnyvale, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.