US 12,245,833 B2
Systems and methods of continuous registration for image-guided surgery
Timothy D. Soper, San Jose, CA (US); and Vincent Duindam, San Francisco, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Nov. 28, 2023, as Appl. No. 18/521,863.
Application 18/521,863 is a continuation of application No. 18/154,710, filed on Jan. 13, 2023, granted, now 11,864,856.
Application 18/154,710 is a continuation of application No. 17/353,322, filed on Jun. 21, 2021, granted, now 11,583,353, issued on Feb. 21, 2023.
Application 17/353,322 is a continuation of application No. 16/343,093, granted, now 11,065,059, issued on Jul. 20, 2021, previously published as PCT/US2017/059358, filed on Oct. 31, 2017.
Claims priority of provisional application 62/416,393, filed on Nov. 2, 2016.
Prior Publication US 2024/0090963 A1, Mar. 21, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/10 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01); A61B 34/37 (2016.01); G06F 30/23 (2020.01); G06T 3/14 (2024.01); G06T 7/33 (2017.01); G06T 17/20 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 1/000094 (2022.02); A61B 1/00147 (2013.01); A61B 34/10 (2016.02); A61B 34/20 (2016.02); G06F 30/23 (2020.01); G06T 3/14 (2024.01); G06T 7/344 (2017.01); G06T 17/20 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2065 (2016.02); G06T 2210/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient, the measured points based on a position of the flexible catheter in a patient space;
assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways;
comparing the plurality of subsets to identify an optimal subset of the plurality of subsets; and
registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.