	US 11,666,397 B2
	Systems and methods for robotic medical system integration with external imaging
Dorin Panescu, San Jose, CA (US); Prashant Chopra, Foster City, CA (US); Jonathan M. Sorger, Belmont, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Oct. 20, 2020, as Appl. No. 17/75,163.
Application 17/075,163 is a continuation of application No. 15/428,273, filed on Feb. 9, 2017, granted, now 10,842,575.
Application 15/428,273 is a continuation of application No. 14/278,812, filed on May 15, 2014, granted, now 9,592,095, issued on Mar. 14, 2017.
Claims priority of provisional application 61/824,298, filed on May 16, 2013.
Prior Publication US 2021/0030494 A1, Feb. 4, 2021
Int. Cl. A61B 34/32 (2016.01); A61B 17/34 (2006.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01); A61N 5/10 (2006.01); A61B 34/20 (2016.01)

CPC A61B 34/32 (2016.02) [A61B 17/00234 (2013.01); A61B 17/3478 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61N 5/1077 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02)]

20 Claims

1. A medical system comprising:

a memory for receiving:

intraoperative external image data for at least a portion of a patient anatomy; and

intraoperative pose data for a medical instrument of the medical system; and

a processor configured for:

generating a first model of the patient anatomy;

comparing the intraoperative external image data to preoperative image data of at least the portion of the patient anatomy;

identifying a difference between the preoperative image data and the intraoperative external image data; and

based on identifying the difference, intraoperatively generating an updated model of the patient anatomy that is different from the first model, wherein the updated model includes an anatomical structure that is not present in the first model.