US 11,723,606 B2
Systems and methods for anatomic motion compensation
Prashant Chopra, Foster City, CA (US); Vincent Duindam, San Francisco, CA (US); Caitlin Q. Donhowe, Mountain View, CA (US); Tao Zhao, Sunnyvale, CA (US); Timothy D. Soper, San Jose, CA (US); and Federico Barbagli, San Francisco, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 18, 2020, as Appl. No. 17/127,888.
Application 17/127,888 is a continuation of application No. 14/665,650, filed on Mar. 23, 2015, granted, now 10,912,523.
Claims priority of provisional application 62/052,802, filed on Sep. 19, 2014.
Claims priority of provisional application 61/969,510, filed on Mar. 24, 2014.
Prior Publication US 2021/0106289 A1, Apr. 15, 2021
Int. Cl. A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 1/045 (2006.01); A61B 17/00 (2006.01); A61B 1/267 (2006.01); A61B 1/05 (2006.01)
CPC A61B 5/7425 (2013.01) [A61B 1/00006 (2013.01); A61B 1/000094 (2022.02); A61B 1/045 (2013.01); A61B 5/062 (2013.01); A61B 5/065 (2013.01); A61B 34/20 (2016.02); A61B 1/00165 (2013.01); A61B 1/00193 (2013.01); A61B 1/05 (2013.01); A61B 1/2676 (2013.01); A61B 5/06 (2013.01); A61B 5/7285 (2013.01); A61B 2017/00699 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A medical system comprising:
an interventional instrument; and
a control system including one or more processors, the control system configured to:
receive a pose dataset for an identified point on the interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion;
determine a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters;
identify a periodic signal for the cyclical anatomical motion from the set of pose differentials;
generate a command signal indicating an intended movement of the interventional instrument relative to the patient anatomy;
adjust the command signal to include an instruction for a cyclical instrument motion of the interventional instrument based on a phase of the cyclical anatomical motion indicated by the periodic signal; and
cause the intended movement of the interventional instrument relative to the patient anatomy based on the adjusted command signal to compensate for the cyclical anatomical motion.