US 12,243,233 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. 18/653,066.
Application 18/653,066 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. 19, 2021, previously published as PCT/US2017/017433, filed on Feb. 10, 2017.
Claims priority of provisional application 62/294,879, filed on Feb. 12, 2016.
Claims priority of provisional application 62/294,870, filed on Feb. 12, 2016.
Prior Publication US 2024/0289958 A1, Aug. 29, 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 including a camera and a channel opening for deploying a medical instrument;
a display system; and
one or more computer readable media with instructions for:
controlling movement of the distal portion as the flexible tubular instrument is advanced toward an anatomical target in a patient's anatomy;
receiving intraoperative fluoroscopic image data of the distal portion of the flexible tubular instrument and the anatomical target, wherein the intraoperative fluoroscopic image data is taken from multiple viewpoints;
displaying, on the display system, at least part of the intraoperative fluoroscopic image data showing the distal portion;
receiving input from a user identifying an intraoperative location of the distal portion;
displaying, on the display system, at least part of the intraoperative fluoroscopic image data showing the anatomical target side-by-side with preoperative CT image data to help identify an intraoperative location of the anatomical target; and
providing real-time information to the user on whether a medical instrument deployed through the channel opening has intercepted the intraoperative location of the anatomical target.