Back to results
US 2024/0180645 A1Published application
Systems and methods for robotic medical system integration with external imaging
AssigneeIntuitive Surgical Operations, Inc.
InventorsDorin Panescu, Prashant Chopra, Jonathan M. Sorger, Tao Zhao
Life of this patent
Estimating the term…
Abstract
A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).
Claims31
1-55. (canceled)
A robotic medical system comprising:
- a robotic arm cart including a driver assembly comprising a plurality of motors;
- a flexible tubular instrument including a sensor configured to produce sensor data depending on an intraoperative location of the sensor within a patient's anatomy;
- an interface configured to couple the instrument to the driver assembly;
- a display system;
- and
- a control system comprising one or more computer readable media with instructions for:
- registering the instrument to a preoperative model of the patient's anatomy based at least in part on the sensor data;
- presenting a virtual navigational image for the instrument on the display system based at least in part on the sensor data as the instrument traverses the patient's anatomy, wherein the virtual navigational image indicates a location of an anatomical target relative to a distal end of the instrument;
- receiving intraoperative external image data for a portion of the patient's anatomy selected to include a region around the distal end of the instrument;
- performing a tomographic reconstruction based on the intraoperative external image data;
- and
- presenting an updated virtual navigational image for the instrument on the display system including an updated location of the anatomical target relative to the distal end of the instrument, wherein the updated virtual navigational image is based at least in part on the tomographic reconstruction and the sensor data.
9 more elements
A method comprising:
- performing an intraoperative registration of a flexible tubular instrument to a preoperative model of a patient's anatomy, wherein the instrument includes a sensor that produces sensor data depending on a location of the sensor within the patient's anatomy, and wherein the registration is based at least in part on the sensor data;
- presenting a virtual navigational image for the instrument on a display system based at least in part on the sensor data as the instrument traverses the patient's anatomy, wherein the virtual navigational image indicates a location of an anatomical target relative to a distal end of the instrument;
- receiving intraoperative external image data for a portion of the patient's anatomy selected to include a region around the distal end of the instrument;
- performing a tomographic reconstruction based on the intraoperative external image data;
- and
- presenting an updated virtual navigational image for the instrument on the display system based at least in part on the tomographic reconstruction and the sensor data while the instrument is within the patient's anatomy, wherein the updated virtual navigational image includes an updated location of the anatomical target relative to the distal end of the instrument.
3 more elements
Dependencies are inferred from the claim text.