US 12,232,835 B2
Systems and methods for robotic medical system integration with external imaging
Dorin Panescu, San Jose, CA (US); Prashant Chopra, Foster City, CA (US); Jonathan M. Sorger, Belmont, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 2, 2024, as Appl. No. 18/793,544.
Application 18/793,544 is a division of application No. 18/441,902, filed on Feb. 14, 2024, granted, now 12,097,000.
Application 18/441,902 is a continuation of application No. 18/306,908, filed on Apr. 25, 2023.
Application 18/306,908 is a continuation of application No. 17/075,163, filed on Oct. 20, 2020, granted, now 11,666,397, issued on Jun. 6, 2023.
Application 17/075,163 is a continuation of application No. 15/428,273, filed on Feb. 9, 2017, granted, now 10,842,575, issued on Nov. 24, 2020.
Application 15/428,273 is a continuation of application No. 14/278,812, filed on May 15, 2014, granted, now 9,592,095, issued on Mar. 14, 2017.
Claims priority of provisional application 61/824,298, filed on May 16, 2013.
Prior Publication US 2024/0390086 A1, Nov. 28, 2024
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/34 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61N 5/10 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 17/00234 (2013.01); A61B 17/3478 (2013.01); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61N 5/1077 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02)] 24 Claims
OG exemplary drawing
 
1. A method comprising:
performing an intraoperative registration of a flexible tubular instrument to a preoperative model of a patient's anatomy, wherein the instrument includes a sensor that produces sensor data depending on a location of the sensor within the patient's anatomy, and wherein the registration is based at least in part on the sensor data;
presenting a virtual navigational image for the instrument on a display system based at least in part on the sensor data as the instrument traverses the patient's anatomy, wherein the virtual navigational image indicates a location of an anatomical target relative to a distal end of the instrument;
receiving intraoperative external image data for a portion of the patient's anatomy selected to include a region around the distal end of the instrument;
performing a tomographic reconstruction based at least in part on the intraoperative external image data; and
presenting an updated virtual navigational image for the instrument on the display system based at least in part on the tomographic reconstruction and the sensor data while the instrument is within the patient's anatomy, wherein the updated virtual navigational image includes an updated location of the anatomical target relative to the distal end of the instrument.