US 10,376,178 B2
Systems and methods for registration of a medical device using rapid pose search
Prashant Chopra, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on May 13, 2013, as Appl. No. 13/892,924.
Claims priority of provisional application 61/646,643, filed on May 14, 2012.
Prior Publication US 2013/0303891 A1, Nov. 14, 2013
Int. Cl. A61B 5/06 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 5/061 (2013.01) [A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 5/062 (2013.01); A61B 5/065 (2013.01); A61B 5/066 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2034/303 (2016.02); A61B 2090/365 (2016.02); A61B 2090/3614 (2016.02); A61B 2505/05 (2013.01); A61B 2562/043 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method comprising:
identifying linked anatomical structures in stored images of a patient anatomy;
modeling the linked anatomical structures as a three-dimensional structure of linkage elements, wherein each linkage element corresponds to one of the linked anatomical structures;
defining, within the three-dimensional structure of linkage elements, a portion of the three-dimensional structure of linkage elements as a plurality of search slabs dynamic in size, progressing between a first search slab having a first width along an axis of the three-dimensional structure of linkage elements in an area of low anatomical detail and a second search slab having a second width along the axis of the three-dimensional structure of linkage elements in an area of fine anatomical detail, wherein the first width is larger than the second width;
assigning each of the linkage elements of the three-dimensional structure of linkage elements to one of the plurality of search slabs;
receiving tracking data corresponding to a sensed instrument portion, wherein the tracking data includes position information and orientation information for the sensed instrument portion;
identifying one of the plurality of search slabs which corresponds to a location indicated by the position information for the sensed instrument portion; and
matching, within the identified search slab, the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified search slab, wherein the identifying of the one of the plurality of search slabs confines the matching to the linkage elements assigned to the identified search slab.