Granted Patent B2

US 12,527,635 · App. 18/150,105 · Granted Jan 20, 2026

Inventors: Bai Wang (Palo Alto, CA); Federico Barbagli (San Francisco, CA); Energy Cruse, II (Foster City, CA); Scott S. Ichikawa (Seattle, WA); Pechin Chien Pau Lo (Santa Clara, CA); Oscar G. Salazar (Sunnyvale, CA); Aaron B. Tinling (Chimacum, WA); Oliver J. Wagner (Mountain View, CA); Tao Zhao (Sunnyvale, CA)

Assignee: INTUITIVE SURGICAL OPERATIONS, INC.

A61B34/25A61B34/10G06F3/04815G06F3/04845G06F3/04883A61B2034/105A61B2034/107

Abstract

Claims (43)

1 . A planning workstation comprising:

a display system; and

a user input device;

wherein the planning workstation is configured to, during pre-operative planning of a procedure:

display a plurality of interactive windows for a user to view a plan for a medical procedure, wherein each of the plurality of interactive windows displays a different rendering of a model of anatomical passageways;

display a path through the anatomical passageways to a target of the medical procedure in a global anatomical model view displaying a rendering of the model of the anatomical passageways from an external perspective;

display a virtual image corresponding to a position of an instrument within the anatomical passageways;

display a control point corresponding to a distal end of the instrument in at least one of the plurality of interactive windows;

receive, via the user input device, a user input adjusting a position of the control point;

and

in response to receiving the user input, dynamically update the position of the instrument in at least one of the plurality of interactive windows to match the adjusted position of the control point.

2 . The planning workstation of claim 1 , wherein the user input device includes a touchscreen of the display system.

3 . The planning workstation of claim 1 , wherein the control point is displayed in a first interactive window of the plurality of interactive windows, the first interactive window including a reduced anatomical model view, the user input being received in relation to the reduced anatomical model view.

4 . The planning workstation of claim 3 , wherein the reduced anatomical model view comprises a simplified overview of a planned route of the instrument through the anatomical passageways including key anatomical features.

5 . The planning workstation of claim 3 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including a simulated live endoscopic view.

6 . The planning workstation of claim 3 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including a virtual endoscopic view.

7 . The planning workstation of claim 6 , wherein the virtual endoscopic view comprises at least one directional cue guiding the user toward the target.

8 . The planning workstation of claim 3 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including the global anatomical model view.

9 . The planning workstation of claim 8 , wherein dynamically updating the position of the instrument in the second interactive window includes updating a shape of the instrument displayed in the second interactive window.

10 . A method of planning a medical procedure, the method performed during pre-operative planning of a procedure and comprising:

displaying a plurality of interactive windows on a display system for a user to view a plan for a medical procedure, wherein each of the plurality of interactive windows displays a different rendering of a model of anatomical passageways;

displaying a path through the anatomical passageways to a target of the medical procedure in a global anatomical model view displaying a rendering of the model of the anatomical passageways from an external perspective;

displaying a virtual image corresponding to a position of an instrument within the anatomical passageways;

displaying a control point corresponding to a distal end of the instrument in at least one of the plurality of interactive windows;

receiving, via a user input device, a user input adjusting a position of the control point; and

in response to receiving the user input, dynamically updating the position of the instrument in at least one of the plurality of interactive windows to match the adjusted position of the control point.

11 . The method of claim 10 , wherein the user input device includes a touchscreen of the display system.

12 . The method of claim 10 , wherein the control point is displayed in a first interactive window of the plurality of interactive windows, the first interactive window including a reduced anatomical model view, the user input being received in relation to the reduced anatomical model view.

13 . The method of claim 12 , wherein the reduced anatomical model view comprises a simplified overview of a planned route of the instrument through the anatomical passageways including key anatomical features.

14 . The method of claim 12 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including a simulated live endoscopic view.

15 . The method of claim 12 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including a virtual endoscopic view.

16 . The method of claim 15 , wherein the virtual endoscopic view comprises at least one directional cue guiding the user toward the target.

17 . The method of claim 12 , wherein the position of the instrument is dynamically updated in a second interactive window of the plurality of interactive windows, the second interactive window including the global anatomical model view.

18 . The method of claim 17 , wherein dynamically updating the position of the instrument in the second interactive window includes updating a shape of the instrument displayed in the second interactive window.

19 . A non-transitory machine readable medium comprising a plurality of machine readable instructions which when executed by one or more processors associated with a planning workstation are adapted to cause the one or more processors to perform a method of pre-operative planning of a procedure comprising:

providing a plurality of interactive windows for a user to view a plan for a medical procedure, wherein each of the plurality of interactive windows displays a different rendering of a model of anatomical passageways;

displaying a path through the anatomical passageways to a target of the medical procedure in a global anatomical model view displaying a rendering of the model of the anatomical passageways from an external perspective;

displaying a virtual image corresponding to a position of an instrument within the anatomical passageways;

displaying a control point corresponding to a distal end of the instrument in at least one of the plurality of interactive windows;

receiving a user input adjusting a position of the control point;

and

in response to receiving the user input, dynamically updating the position of the instrument in at least one of the plurality of interactive windows to match the adjusted position of the control point.

20 . The non-transitory machine readable medium of claim 19 , wherein the control point is displayed in a first interactive window of the plurality of interactive windows, the first interactive window including a reduced anatomical model view, the user input being received in relation to the reduced anatomical model view.

Assignments (1)

Continuity (4)

References Cited (108)