US 12,236,602 B2
Systems and methods for using registered fluoroscopic images in image-guided surgery
Tao Zhao, Sunnyvale, CA (US); Federico Barbagli, San Francisco, CA (US); Caitlin Q. Donhowe, Mountain View, CA (US); Vincent Duindam, San Francisco, CA (US); Michael D. Paris, San Francisco, CA (US); Timothy D. Soper, San Jose, CA (US); and Oliver J. Wagner, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 2, 2024, as Appl. No. 18/652,927.
Application 18/652,927 is a continuation of application No. 18/184,499, filed on Mar. 15, 2023.
Application 18/184,499 is a continuation of application No. 16/950,980, filed on Nov. 18, 2020, granted, now 11,636,597, issued on Apr. 25, 2023.
Application 16/950,980 is a continuation of application No. 16/076,290, granted, now 10,896,506, issued on Jan. 9, 2021, previously published as PCT/US2017/017433, filed on Feb. 10, 2017.
Claims priority of provisional application 62/294,870, filed on Feb. 12, 2016.
Claims priority of provisional application 62/294,879, filed on Feb. 12, 2016.
Prior Publication US 2024/0281976 A1, Aug. 22, 2024
Int. Cl. G06T 7/00 (2017.01); A61B 6/00 (2006.01); A61B 6/12 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); G06T 11/00 (2006.01); A61B 90/00 (2016.01)
CPC G06T 7/0014 (2013.01) [A61B 6/12 (2013.01); A61B 6/487 (2013.01); A61B 6/5235 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); G06T 11/003 (2013.01); A61B 6/5247 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2046 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/3762 (2016.02); G06T 2207/10064 (2013.01); G06T 2207/10072 (2013.01); G06T 2207/30004 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A robotic medical system comprising:
a flexible tubular instrument with a distal portion;
a display system; and
one or more computer readable media with instructions for:
controlling movement of the distal portion as the instrument is advanced toward an anatomical target in a patient's anatomy;
receiving a set of intraoperative images of at least the anatomical target;
reconstructing the anatomical target in three dimensions based at least in part on the set of intraoperative images; and
displaying in real time, on the display system, an additional intraoperative image of a portion of the patient's anatomy and an overlay on the additional intraoperative image indicating a location of the anatomical target based at least in part on the reconstructing.