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US 2023/0145531 A1Published application
Systems and methods for registering visual representations of a surgical space
AssigneeIntuitive Surgical Operations, Inc.
InventorsA. Jonathan McLeod, Maximilian H. Allan, Mahdi Azizian, Daniel Proksch, Pourya Shirazian
Life of this patent
Estimating the term…
Abstract
An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.
Claims21
1-27. (canceled)
A system comprising:
- a memory storing instructions;
- a processor communicatively coupled to the memory and configured to execute the instructions to:
- access semantic information regarding an anatomical object in a surgical scene;
- and
- register, based at least in part on the semantic information regarding the anatomical object, an image of the surgical scene with a model of the anatomical object.
2 more elements
A method comprising:
- accessing, by a processor, scene segmentation information for an image of a surgical scene of a surgical space including an anatomical object and a model of the anatomical object;
- determining, by the processor, based on the scene segmentation information, a set of reliable tissues for registering a data set of the image of a surgical scene with the model of the anatomical object;
- determining, by the processor, in the image of the surgical scene, first regions depicting one or more tissues of the set of reliable tissues;
- determining, by the processor, in the image of the surgical scene, a first plurality of feature points in the first regions depicting the one or more tissues;
- determining, by the processor, in an image of the model of the anatomical object, second regions depicting the one or more tissues;
- determining, by the processor, in the image of the model of the anatomical object, a second plurality of feature points in the second regions depicting the one or more tissues;
- and
- registering, by the processor, based at least in part on an alignment of the first plurality of feature points with the second plurality of feature points, the image of the surgical scene and the model of the anatomical object.
5 more elements
A method comprising:
- accessing, by a processor, information regarding a current phase of a procedure performed on an anatomical object in a surgical space;
- and
- selectively updating, by the processor, based on the current phase of the procedure, an initial registration of an image of the surgical space with a model of the anatomical object.
Dependencies are inferred from the claim text.