# US 12,004,850 B2 · Graphical user interface for catheter positioning and insertion > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,850 B2 - Document ID: US12004850B2 - Status: Granted - Kind: B2 - Application number: 18/475,052 - Filed: 2023-09-26 - Published: 2024-01-11 - Granted: 2024-06-11 - Earliest claimed: 2013-08-15 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Vincent Duindam; Carol Reiley - Web page: https://patentgrep.com/patent/US12004850B2 ## CPC - A61B 5/066: {Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging} - A61B 5/743: {Displaying an image simultaneously with additional graphical information, e.g. symbols, charts, function plots} - A61B 17/34: Trocars; Puncturing needles - A61B 34/25: {User interfaces for surgical systems} - A61M 25/01: Introducing, guiding, advancing, emplacing or holding catheters (A61M25/10 takes precedence) - A61M 25/0105: {Steering means as part of the catheter or advancing means; Markers for positioning (systems for detection of markers A61B)} - A61B 34/30: Surgical robots - A61B 2010/045: {Needles (pointed biopsy devices with vacuum aspiration A61B10/0283)} - A61B 2034/107: {Visualisation of planned trajectories or target regions} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61M 2025/0166: {Sensors, electrodes or the like for guiding the catheter to a target zone, e.g. image guided or magnetically guided} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location. ## Claims ### Claim 1 A method, comprising: identifying a target location within a patient anatomy; receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy; determining a three-dimensional distance between the first location and the target location; displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the interventional instrument; and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion, wherein as the tip portion of the interventional instrument is actuated, the image is displayed so that the symbol representing the tip portion of the interventional instrument is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion of the interventional instrument to represent a new location of the tip portion relative to the target location. ### Claim 2 (depends on 1) The method of claim 1, further comprising displaying a symbol indicating a direction between the position of the tip portion and the target location. ### Claim 3 (depends on 1) The method of claim 1, wherein the symbol representing the target location and the symbol representing the tip portion of the interventional instrument are displayed in a first window of a display of the display system, and wherein the rotational assist symbol is displayed in a second window of the display. ### Claim 4 (depends on 1) The method of claim 1, further comprising displaying a symbol indicating a direction between the tip portion and the target location, wherein the symbol representing the target location and the symbol representing the tip portion are displayed in a first window of a display of the display system, and wherein the symbol indicating the direction between the tip portion and the target location is displayed in a second window of the display. ### Claim 5 (depends on 4) The method of claim 4, wherein the symbol representing the target location and the symbol representing the tip portion in the first window are rotationally aligned with the symbol indicating the direction between the tip portion and the target location in the second window. ### Claim 6 (depends on 4) The method of claim 4, wherein the symbol indicating the direction between the tip portion and the target location includes directional guidance information for directing the tip portion toward the target location. ### Claim 7 (depends on 1) The method of claim 1, further comprising displaying a secondary guidance image, wherein the symbol representing the target location and the symbol representing the tip portion are displayed in a first window of a display of the display system, and wherein the secondary guidance image is displayed in a second window of the display. ### Claim 8 (depends on 7) The method of claim 7, further comprising, based on the position of the tip portion of the interventional instrument, providing an alert that the position of the tip portion should be adjusted, wherein the secondary guidance image includes the alert. ### Claim 9 (depends on 7) The method of claim 7, wherein displaying the secondary guidance image includes rotating the secondary guidance image to reflect the rotational orientation of the tip portion of the interventional instrument. ### Claim 10 (depends on 1) The method of claim 1, further comprising displaying a symbol representing an insertion distance component of the three dimensional distance in addition to the symbol representing the target location, wherein the symbol representing the insertion distance component is displayed surrounding the symbol representing the target location, and wherein a size of the symbol representing the insertion distance scales as an insertion distance between the tip portion and the target location changes. ### Claim 11 A non-transitory machine-readable media storing instructions that, when run by one or more processors, cause the one or more processors to: identify a target location within a patient anatomy; receive a position for a tip portion of an interventional instrument at a first location within the patient anatomy; determine a three-dimensional distance between the first location and the target location; display on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the interventional instrument; and display on the display system a rotational assist symbol indicating a rotational orientation of the tip portion, wherein as the tip portion of the interventional instrument is actuated, the image is displayed so that the symbol representing the tip portion of the interventional instrument is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion of the interventional instrument to represent a new location of the tip portion relative to the target location. ### Claim 12 (depends on 11) The non-transitory machine-readable media of claim 11, wherein the instructions further cause the one or more processors to display a symbol indicating a direction between the position of the tip portion and the target location. ### Claim 13 (depends on 11) The non-transitory machine-readable media of claim 11, wherein the symbol representing the target location and the symbol representing the tip portion of the interventional instrument are displayed in a first window of a display of the display system, and wherein the rotational assist symbol is displayed in a second window of the display. ### Claim 14 (depends on 11) The non-transitory machine-readable media of claim 11, wherein the instructions further cause the one or more processors to display a symbol indicating a direction between the tip portion and the target location, wherein the symbol representing the target location and the symbol representing the tip portion are displayed in a first window of a display of the display system, and wherein the symbol indicating the direction between the tip portion and the target location is displayed in a second window of the display. ### Claim 15 (depends on 14) The non-transitory machine-readable media of claim 14, wherein the symbol representing the target location and the symbol representing the tip portion in the first window are rotationally aligned with the symbol indicating the direction between the tip portion and the target location in the second window. ### Claim 16 (depends on 14) The non-transitory machine-readable media of claim 14, wherein the symbol indicating the direction between the tip portion and the target location includes directional guidance information for directing the tip portion toward the target location. ### Claim 17 (depends on 11) The non-transitory machine-readable media of claim 11, wherein the instructions further cause the one or more processors to display a secondary guidance image, wherein the symbol representing the target location and the symbol representing the tip portion are displayed in a first window of a display of the display system, and wherein the secondary guidance image is displayed in a second window of the display. ### Claim 18 (depends on 17) The non-transitory machine-readable media of claim 17, wherein the instructions further cause the one or more processors to, based on the position of the tip portion of the interventional instrument, provide an alert that the position of the tip portion should be adjusted, wherein the secondary guidance image includes the alert. ### Claim 19 (depends on 17) The non-transitory machine-readable media of claim 17, wherein displaying the secondary guidance image includes rotating the secondary guidance image to reflect the rotational orientation of the tip portion of the interventional instrument. ### Claim 20 (depends on 11) The non-transitory machine-readable media of claim 11, wherein the instructions further cause the one or more processors to display a symbol representing an insertion distance component of the three dimensional distance in addition to the symbol representing the target location, wherein the symbol representing the insertion distance component is displayed surrounding the symbol representing the target location, and wherein a size of the symbol representing the insertion distance scales as an insertion distance between the tip portion and the target location changes.