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US 12,758,116 B2Granted
Systems and methods for registration of a medical device using a reduced search space
AssigneeIntuitive Surgical Operations, Inc.
InventorsVincent Duindam, Prashant Chopra
Life of this patent
Estimating the term…
Abstract
A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.
Claims17
A medical system comprising:
- an elongate instrument;
- a tracking system disposed along at least a portion of the elongate instrument;
- and
- one or more processors coupled to the tracking system, wherein the one or more processors are configured to:
- receive shape information for a portion of the elongate instrument when the portion is disposed in a set of connected passageways of a patient anatomy;
- compare the received shape information to a plurality of linked elements of a model of the set of connected passageways including determining whether a portion of the shape information is disposed outside the plurality of linked elements;
- generate adjusted position information for the portion of the elongate instrument based on the comparison;
- create an adjusted instrument image with the adjusted position information;
- generate a composite image including the model of the set of connected passageways and the adjusted instrument image within the model;
- and
- display the composite image while the elongate instrument is navigated through the set of connected passageways of the patient anatomy.
8 more elements
A medical system comprising:
- an elongate instrument;
- a tracking system disposed along at least a portion of the elongate instrument;
- and
- one or more processors coupled to the tracking system, wherein the one or more processors are configured to:
- receive shape information for a portion of the elongate instrument when the portion is disposed in a set of connected passageways of a patient anatomy;
- compare the received shape information to a plurality of linked elements of a model of the set of connected passageways;
- generate adjusted position information for the portion of the elongate instrument based on the comparison, wherein generating the adjusted position information for the portion of the elongate instrument comprises determining a set of distances between the portion of the elongate instrument and centerlines of the plurality of linked elements, identifying a smallest distance of the set of distances, and identifying a nearest linked element of the plurality of the linked elements associated with the smallest distance;
- create an adjusted instrument image with the adjusted position information;
- generate a composite image including the model of the set of connected passageways and the adjusted instrument image within the model;
- and
- display the composite image while the elongate instrument is navigated through the set of connected passageways of the patient anatomy.
8 more elements
A method comprising:
- receiving shape information for a portion of an elongate instrument when the portion is disposed in a set of connected passageways of a patient anatomy;
- comparing the received shape information to a plurality of linked elements of a model of the set of connected passageways;
- generating adjusted position information for the portion of the elongate instrument based on the comparison including determining a set of distances between the portion of the elongate instrument and centerlines of the plurality of linked elements, identifying a smallest distance of the set of distances, and identifying a nearest linked element of the plurality of the linked elements associated with the smallest distance;
- creating an adjusted instrument image with the adjusted position information;
- generating a composite image including the model of the set of connected passageways and the adjusted instrument image within the model;
- and
- displaying the composite image while the elongate instrument is navigated through the set of connected passageways of the patient anatomy.
4 more elements
Dependencies are inferred from the claim text.