US 10,376,335 B2
Method and apparatus to provide updated patient images during robotic surgery
Mahdi Azizian, Santa Clara, CA (US); Lutz Blohm, Möhrendorf (DE); Holger Kunze, Bubenreuth (DE); Christine Niebler, Rückersdorf (DE); and Jonathan Sorger, Belmont, CA (US)
Assigned to Siemens Healthcare GmbH, Erlangen (DE); and Intuitive Surgical Operatons, Inc., Sunnyvale, CA (US)
Appl. No. 15/575,603
Filed by Siemens Healthcare GmbH, Erlangen (DE); and Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Sep. 10, 2015, PCT No. PCT/IB2015/056938
§ 371(c)(1), (2) Date Nov. 20, 2017,
PCT Pub. No. WO2016/185259, PCT Pub. Date Nov. 24, 2016.
Application 15/575,603 is a continuation in part of application No. 14/716,963, filed on May 20, 2015, granted, now 9,622,831.
Prior Publication US 2018/0153636 A1, Jun. 7, 2018
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 90/00 (2016.01); A61B 34/30 (2016.01); A61B 34/00 (2016.01)
CPC A61B 90/37 (2016.02) [A61B 34/30 (2016.02); A61B 34/25 (2016.02); A61B 2090/064 (2016.02); A61B 2090/364 (2016.02); A61B 2090/367 (2016.02); A61B 2090/368 (2016.02); A61B 2090/3762 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A method for providing current images of a surgical site during a surgical procedure, the method comprising:
receiving, by an imaging system, three-dimensional (3D) data representing a volume of a patient on a patient table from a medical imaging device of the imaging system, the volume comprising an anatomy to be manipulated, during a surgical procedure, by a surgical robot;
constructing, by the imaging system, a 3D image of the volume from the 3D data;
constructing, by the imaging system, a segmented 3D volumetric image of the anatomy from the 3D image of the volume;
bringing, by the imaging system, a coordinate system of the surgical robot into registration with a coordinate system of the medical imaging device;
receiving, by the imaging system, a signal representing at least one force applied to the anatomy during the surgical procedure and detected by a force sensor of the surgical robot, wherein the at least one force produces a geometrical change of the anatomy;
automatically updating, by the imaging system, the segmented 3D volumetric image of the anatomy, based on the at least one force, to produce an updated segmented 3D volumetric image of the anatomy that visually shows the geometrical change of the anatomy; and
displaying, by a display screen of the imaging system, the updated segmented 3D volumetric image of the anatomy in real-time during the surgical procedure.