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US 10,376,321 B2Granted
Shape sensor systems for localizing movable targets
AssigneeIntuitive Surgical Operations, Inc.
InventorsSimon P. DiMaio, Vincent Duindam, David Q. Larkin
Life of this patent
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Abstract
A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.
Claims20
A method comprising:
- receiving first shape data from a first elongated optical fiber section in a first shape sensor, the first elongated optical fiber section extending between a reference fixture and a first anatomic fixture coupled to a patient anatomy;
- determining a pose of the first anatomic fixture relative to the reference fixture from the first shape data;
- tracking a pose change for the first anatomic fixture based on the pose from the first shape data;
- receiving second shape data from a second shape sensor extending between the reference fixture and an instrument fixture coupled to a medical instrument;
- determining a first pose of the instrument fixture relative to the reference fixture from the second shape data;
- tracking a first pose change of the first pose for the instrument fixture;
- receiving third shape data from a second elongated optical fiber section of the first shape sensor extending between the first anatomic fixture and the instrument fixture;
- determining a second pose of the instrument fixture relative to the reference fixture from the third shape data and the first shape data;
- tracking a second pose change of the second pose for the instrument fixture;
- and
- evaluating an instrument fixture pose redundancy based on the first pose and the second pose of the instrument fixture.
8 more elements
A system comprising:
- a reference fixture;
- a first anatomic fixture configured to be coupled to a patient anatomy;
- an instrument fixture coupled to a medical instrument;
- a first shape sensor including:
- a first elongated optical fiber section extending between the reference fixture and the first anatomic fixture;
- and
- a second elongated optical fiber section extending between the first anatomic fixture and the instrument fixture;
- a second shape sensor extending between the reference fixture and the instrument fixture;
- and
- a processor configured for:
- receiving first shape data from the first elongated optical fiber section of the first shape sensor;
- determining a pose of the first anatomic fixture relative to the reference fixture from the first shape data;
- tracking a pose change for the first anatomic fixture based on the pose from the first shape data;
- receiving second shape data from the second shape sensor;
- determining a first pose of the instrument fixture relative to the reference fixture from the second shape data;
- tracking a first pose change of the first pose for the instrument fixture;
- receiving third shape data from the second elongated optical fiber section of the first shape sensor;
- determining a second pose of the instrument fixture relative to the reference fixture from the third shape data and the first shape data;
- tracking a second pose change of the second pose for the instrument fixture;
- and
- evaluating an instrument fixture pose redundancy based on the first pose and the second pose of the instrument fixture.
18 more elements
Dependencies are inferred from the claim text.