Granted Patent B2

US 12,426,798 · App. 18/180,060 · Granted Sep 30, 2025

Inventors: Tao Zhao (Sunnyvale, CA); Prashant Chopra (Foster City, CA); Vincent Duindam (San Francisco, CA); Dorin Panescu (San Jose, CA); Lei Fan (South Setauket, NY)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B5/061A61B5/065A61B5/7425A61B34/20A61B2034/2051

Abstract

Claims (35)

1. A method performed by a computing system, the method comprising:

receiving a first plurality of spatial data records from a plurality of position sensors disposed along a length of an instrument positioned within an anatomic passageway, the first plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods;

ordering the first plurality of spatial data records in a time-gathered order;

evaluating a spatial relationship between first and second consecutive spatial data records of the first plurality of spatial data records, wherein the first consecutive spatial data record is spaced apart from the second consecutive spatial data record by a distance;

filtering the first plurality of spatial data records based upon the evaluated spatial relationship by:

determining that the distance between the first and second consecutive spatial data records is below a distance threshold value; and

removing one of the first or second consecutive spatial data records from the first plurality of spatial data records based on the distance between the first and second consecutive spatial data records being below the distance threshold value; and

providing guidance to navigate the instrument within the anatomic passageway based on the filtered first plurality of spatial data records.

2. The method of claim 1 , wherein the distance threshold value is determined from a known maximum speed of the instrument.

3. The method of claim 1 , wherein the distance threshold value is determined from a known speed of the instrument both before and after the second consecutive spatial data record is obtained.

4. The method of claim 1 , wherein filtering the first plurality of spatial data records further includes weighting at least one spatial data record from the first plurality of spatial data records differently from another of the spatial data records.

5. The method of claim 1 , further comprising:

receiving a second plurality of spatial data records from a model of the anatomic passageway; and

registering the filtered first plurality of spatial data records to the second plurality of spatial data records.

6. The method of claim 5 , further comprising rendering an image of the instrument based on the filtered first plurality of spatial data records on a common display with an image of the anatomic passageway.

7. A medical system comprising:

an instrument; and

a processor and a memory, the memory including instructions that, when executed by the processor, cause the processor to:

receive a first plurality of spatial data records from a plurality of position sensors disposed along a length of the instrument positioned within an anatomic passageway, the first plurality of spatial data records including position information for a distal end of the instrument at a plurality of time periods;

order the first plurality of spatial data records in a time-gathered order;

evaluate a spatial relationship between first and second consecutive spatial data records of the first plurality of spatial data records, wherein the first consecutive spatial data record is spaced apart from the second consecutive spatial data record by a distance;

filter the first plurality of spatial data records based upon the evaluated spatial relationship by:

determining that the distance between the first and second consecutive spatial data records is below a distance threshold value; and

removing one of the first or second consecutive spatial data records from the first plurality of spatial data records based on the distance between the first and second consecutive spatial data records being below the distance threshold value; and

provide guidance to navigate the instrument within the anatomic passageway based on the filtered first plurality of spatial data records.

8. The medical system of claim 7 , wherein the distance threshold value is determined from one of a known maximum speed of the instrument or a known speed of the instrument both before and after the second consecutive spatial data record is obtained.

9. The medical system of claim 7 , further comprising instructions that, when executed by the processor, cause the processor to:

receive a second plurality of spatial data records from a model of the anatomic passageway; and

register the filtered first plurality of spatial data records to the second plurality of spatial data records.

10. The medical system of claim 9 , further comprising instructions that, when executed by the processor, cause the processor to:

render an image of the instrument based on the filtered first plurality of spatial data records on a common display with an image of the anatomic passageway.

11. The method of claim 1 , wherein the distance threshold value is determined based on a change in velocity of the instrument from a first velocity to a second velocity, wherein the second velocity is lower than the first velocity.

12. The method of claim 1 , wherein the distance threshold value is determined based on a spatial resolution of an imaging system, wherein the imaging system is configured to generate a model of the anatomic passageway.

13. The medical system of claim 7 , wherein the distance threshold value is determined based on a change in velocity of the instrument from a first velocity to a second velocity, wherein the second velocity is lower than the first velocity.

14. The medical system of claim 7 , wherein the distance threshold value is determined based on a spatial resolution of an imaging system, wherein the imaging system is configured to generate a model of the anatomic passageway.

Assignments (1)

Continuity (5)

References Cited (66)