US 11,882,996 B2
In-vivo visualization systems
Vahid Saadat, Atherton, CA (US); Antony Jonathan Fields, San Francisco, CA (US); Zachary J. Malchano, San Francisco, CA (US); Chris Rothe, San Mateo, CA (US); Veerappan Swaminathan, Sunnyvale, CA (US); Jason Paul Watson, San Jose, CA (US); and Bryan Wylie, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Sep. 11, 2019, as Appl. No. 16/567,066.
Application 16/567,066 is a division of application No. 14/714,992, filed on May 18, 2015, granted, now 10,470,643.
Application 14/714,992 is a continuation of application No. 12/778,878, filed on May 12, 2010, granted, now 9,055,906.
Application 12/778,878 is a continuation in part of application No. 11/763,399, filed on Jun. 14, 2007, granted, now 10,064,540.
Claims priority of provisional application 61/177,618, filed on May 12, 2009.
Claims priority of provisional application 60/888,242, filed on Feb. 5, 2007.
Claims priority of provisional application 60/871,415, filed on Dec. 21, 2006.
Claims priority of provisional application 60/871,424, filed on Dec. 21, 2006.
Claims priority of provisional application 60/806,926, filed on Jul. 10, 2006.
Claims priority of provisional application 60/806,924, filed on Jul. 10, 2006.
Claims priority of provisional application 60/804,801, filed on Jun. 14, 2006.
Prior Publication US 2020/0000319 A1, Jan. 2, 2020
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/05 (2006.01); A61B 1/313 (2006.01); A61B 1/015 (2006.01); A61B 1/12 (2006.01); A61B 18/14 (2006.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 1/00085 (2013.01) [A61B 1/0052 (2013.01); A61B 1/0055 (2013.01); A61B 1/00089 (2013.01); A61B 1/015 (2013.01); A61B 1/05 (2013.01); A61B 1/3137 (2013.01); A61B 1/12 (2013.01); A61B 18/1492 (2013.01); A61B 2017/00314 (2013.01); A61B 2034/306 (2016.02); A61B 2218/002 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer implemented method comprising:
receiving a model of a tissue region;
steering a distal end of a catheter within a body to a first area of a tissue region;
obtaining a first image from the distal end of the catheter of the first area of the tissue region;
mapping the first image of the first area of the tissue region to the model of the tissue region;
displaying the first image of the first area of the tissue region on the model of the tissue region by superimposing the first image onto a surface of the model while the distal end of the catheter is at the first area;
obtaining a second image from the distal end of the catheter of a second area of the tissue region;
mapping the second image of the second area of the tissue region to the model of the tissue region; and
displaying the second image of the second area of the tissue region on the model of the tissue region by superimposing the second image onto the surface of the model while the distal end of the catheter is at the second area.