US 12,251,170 B2
Configuration marker design and detection for instrument tracking
Tao Zhao, Sunnyvale, CA (US); Wenyi Zhao, Weston, FL (US); and William C. Nowlin, Los Altos Hills, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Sep. 12, 2022, as Appl. No. 17/942,777.
Application 17/942,777 is a continuation of application No. 16/859,755, filed on Apr. 27, 2020, granted, now 11,471,221.
Application 16/859,755 is a continuation of application No. 15/699,858, filed on Sep. 8, 2017, granted, now 10,675,098, issued on Jun. 9, 2020.
Application 15/699,858 is a continuation of application No. 12/428,691, filed on Apr. 23, 2009, granted, now 9,867,669, issued on Jan. 16, 2018.
Claims priority of provisional application 61/203,975, filed on Dec. 31, 2008.
Prior Publication US 2023/0000568 A1, Jan. 5, 2023
Int. Cl. A61B 8/00 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/94 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 90/94 (2016.02); A61B 2034/102 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/371 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
11. A tool tracking method comprising:
receiving image data including an image of a tool and at least one reference feature;
determining a pose of the tool from the image data; and
modifying the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.