US 12,226,072 B2
Systems and methods for identifying differentiated blood vessels and registering imaging data from different imaging modalities based on subsurface image scanning
A. Jonathan McLeod, Sunnyvale, CA (US); Mahdi Azizian, San Jose, CA (US); Daniel Proksch, San Jose, CA (US); and Pourya Shirazian, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/638,322
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Aug. 26, 2020, PCT No. PCT/US2020/047999
§ 371(c)(1), (2) Date Feb. 25, 2022,
PCT Pub. No. WO2021/041545, PCT Pub. Date Mar. 4, 2021.
Claims priority of provisional application 62/893,040, filed on Aug. 28, 2019.
Prior Publication US 2022/0296303 A1, Sep. 22, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01); G06T 7/00 (2017.01); A61B 6/02 (2006.01)
CPC A61B 1/000094 (2022.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); G06T 7/0012 (2013.01); A61B 6/022 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); G06T 2207/10068 (2013.01); G06T 2207/30101 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
identify a differentiated set of blood vessels differentiated from other blood vessels at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site; and
use the differentiated set of blood vessels identified at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality,
wherein the using of the differentiated set of blood vessels identified at the surgical site for the registration of the endoscopic imaging data with the additional imaging data includes:
determining, based on the subsurface imaging data and alignment parameters representative of a registration of the endoscopic imaging data with the subsurface imaging data, a first location, with respect to anatomy as represented by the endoscopic imaging data, of the differentiated set of blood vessels identified at the surgical site;
determining a second location, with respect to the anatomy as represented by the additional imaging data, of the differentiated set of blood vessels; and
generating or correcting, based on the first and second locations, the registration of the endoscopic imaging data with the additional imaging data.