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:
Nov. 26, 2024
Filed:
Aug. 04, 2023
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Federico Barbagli, San Francisco, CA (US);
Christopher R. Carlson, Belmont, CA (US);
Caitlin Q. Donhowe, Mountain View, CA (US);
Vincent Duindam, San Francisco, CA (US);
Timothy D. Soper, San Jose, CA (US);
Tao Zhao, Sunnyvale, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A system includes a fixture having a known location in a surgical reference frame, a medical instrument, a position measuring device, and a computing system. The fixture includes a constraint structure having a known constraint structure pose in the surgical reference frame. The medical instrument includes a reference portion movably coupled to the fixture, an elongate flexible portion coupled to the reference portion, wherein the elongate flexible portion is sized to pass through the constraint structure, and a shape sensor. The position measuring device measures motion of the reference portion with respect to the fixture. The computing system is configured to receive shape information for the medical instrument, receive reference portion position information in the surgical reference frame, determine an estimated constraint structure pose from the reference portion position information and the shape information, determine a correction factor, and modify the shape information based upon the correction factor.