US 12,226,202 B2
Systems and methods for registration of multiple vision systems
Tao Zhao, Sunnyvale, CA (US); and Prashant Chopra, Foster City, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 5, 2024, as Appl. No. 18/405,859.
Application 18/405,859 is a continuation of application No. 17/532,039, filed on Nov. 22, 2021, granted, now 11,896,364.
Application 17/532,039 is a continuation of application No. 16/353,778, filed on Mar. 14, 2019, granted, now 11,219,385, issued on Jan. 11, 2022.
Application 16/353,778 is a continuation of application No. 13/964,704, filed on Aug. 12, 2013, granted, now 10,278,615, issued on May 7, 2019.
Claims priority of provisional application 61/682,966, filed on Aug. 14, 2012.
Prior Publication US 2024/0252057 A1, Aug. 1, 2024
Int. Cl. A61B 5/05 (2021.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 5/06 (2006.01); A61B 34/20 (2016.01); G06T 7/33 (2017.01)
CPC A61B 5/066 (2013.01) [A61B 1/000094 (2022.02); A61B 1/009 (2022.02); A61B 34/20 (2016.02); G06T 7/33 (2017.01); A61B 5/062 (2013.01); A61B 2034/2065 (2016.02); G06T 2207/10068 (2013.01); G06T 2207/30021 (2013.01)] 20 Claims
OG exemplary drawing
 
14. A method comprising:
defining a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures;
comparing a tissue structure in an image received from the image capture probe to at least a portion of virtual tissue structures of the plurality of virtual tissue structures;
based on the comparison, determining a respective similarity measure between the image received from the image capture probe and each virtual tissue structure of the portion of virtual tissue structures;
identifying a closest matched virtual tissue structure based on the determined similarity measures; and
based on identifying the closest matched virtual tissue structure, registering the image received from the image capture probe to the model of the anatomic region to determine a virtual position for the image capture probe with respect to the model.