Granted Patent B2

US 12,262,951 · App. 17/671,396 · Granted Apr 1, 2025

Inventors: Dorin Panescu (San Jose, CA); Daniel H Jones (Alexandria, VA); Christopher B. Allenby (Sunnyvale, CA)

Assignee: Intuitive Surgical Operations, Inc.

A61B34/00A61B34/20A61B34/30A61B34/35A61B34/37A61B90/37A61B1/00A61B2017/00119A61B17/062A61B17/07207A61B2034/107A61B2034/2065A61B2034/301A61B2090/065A61B2090/364

Abstract

Claims (39)

1. A system for visualizing three dimensional images of an anatomical structure from a viewpoint of a target instrument, comprising:

a quantitative three-dimensional (Q3D) endoscope disposed to image a scene within a field of view of the Q3D endoscope; and

at least one processor configured to:

determine a Q3D model of the scene imaged by the Q3D endoscope;

identify at least one target instrument within the scene and a 3D pose of the at least one target instrument;

identify at least one tissue structure within the scene;

determine a geometric transformation from the field of view of the endoscope to a virtual field of view of said at least one target instrument, the geometric transformation comprising orientation and position transformations to transform the Q3D model to take on the 3D pose of the at least one target instrument and to align a z-axis of the Q3D endoscope along a longitudinal axis of the least one target instrument; and

produce, based at least in part upon said geometric transformation, a three-dimensional (3D) view of said at least one tissue structure within the Q3D model as represented from the virtual field of view of said at least one target instrument.

2. The system of claim 1 , wherein the system comprises a 3D display that displays said 3D view.

3. The system of claim 1 , wherein the system comprises a viewer to display quantitative measurements based upon, at least in part, said 3D view.

4. The system of claim 1 , wherein the system comprises a control input device for a user to select said at least one instrument from a set of instruments.

5. The system of claim 1 , wherein determining a geometric transformation from the field of view of the endoscope to the virtual field of view of said at least one instrument includes:

determining a geometric orientation of the Q3D endoscope;

determining a geometric orientation of at least one instrument;

determining one or more geometric transformations so as to move the Q3D endoscope

into a virtually overlapping position with the at least one instrument and so as to align the Q3D endoscope with the determined orientation of the at least one instrument.

6. The system of claim 1 , wherein the 3D pose comprises at least a portion of the least one target instrument in at least one translation degree of freedom and orientation of at least the portion of the least one target instrument in at least rotational degree of freedom.

7. The system of claim 1 , wherein the geometric transformation uses one of a following coordinate system: Cartesian, polar, cylindrical and spherical.

8. The system of claim 1 , wherein the geometric transformation is configured to virtually move the Q3D endoscope within the scene to take on the 3D pose of the least one target instrument.

9. A system for maneuvering a surgical instrument, comprising:

a quantitative three-dimensional (Q3D) endoscope disposed to image a scene within its field of view;

at least one processor configured to:

determine a Q3D model of the scene imaged by the Q3D endoscope;

identify an anatomical structure as a first target within the scene;

identify a surgical instrument as second target within the scene;

determine, based at least on a type of the surgical instrument and one or more characteristics of at least one of the first or second targets, a Q3D no fly zone associated with at least one of the first or second targets; and

determine whether a distance between the first target and the second target is within the no fly zone.

10. The system of claim 9 , wherein the processor is configured to determine whether said Q3D no fly zone has been violated, based at least in part upon the Q3D model; and provide an output signal in response to a determination that Q3D no fly zone was violated.

11. The system of claim 9 , wherein the determination whether the Q3D no fly zone has been violated is based at least in part on a closest distance between the first and second targets that is less than a threshold distance.

12. The system claim 9 , wherein the processor produces an alert in response to, at least in part, said output signal.

13. The system claim 12 , wherein the alert can be one of the following: visual, video, audio, haptic, graphic, or textual.

14. The system of claim 9 ,

wherein the first target includes a surgical instrument;

wherein the no fly zone associated with the first target; and

wherein the processor is configured to determine whether a distance between the first target and the second target is small enough that the second target is within the no fly zone.

15. The system of claim 9 , wherein the Q3D no fly zone comprises a region to be occupied solely by the at least one of the first or second targets associated with the Q3D no fly zone.

16. The system of claim 9 , wherein the at least one processor is further configured to select one or more limits of the Q3D no fly zone based at least on the type of surgical instrument.

17. The system of claim 9 , wherein the at least one processor is further configured to determine the Q3D no fly zone based at least on a shape of the surgical instrument.

18. The system of claim 9 , wherein the at least one processor is further configured to identify the type of surgical instrument based on designation by an operator of the surgical instrument.

Assignments (3)

Continuity (4)

References Cited (292)