US 12,262,868 B2
Systems and methods for performance of depth sensor and auxiliary sensor-based operations associated with a computer-assisted surgical system
Robert G. Stricko, III, San Francisco, CA (US); Jacob L. Divone, Mountain View, CA (US); and Glenn C. Stante, San Francisco, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/628,168
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Aug. 14, 2020, PCT No. PCT/US2020/046415
§ 371(c)(1), (2) Date Jan. 18, 2022,
PCT Pub. No. WO2021/034682, PCT Pub. Date Feb. 25, 2021.
Claims priority of provisional application 62/888,115, filed on Aug. 16, 2019.
Prior Publication US 2022/0265351 A1, Aug. 25, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06T 7/521 (2017.01); G06T 7/55 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); G16H 40/63 (2018.01)
CPC A61B 1/00097 (2022.02) [A61B 1/000094 (2022.02); A61B 1/00194 (2022.02); A61B 34/00 (2016.02); A61B 34/30 (2016.02); A61B 90/361 (2016.02); G06T 7/521 (2017.01); G06T 7/55 (2017.01); G16H 20/40 (2018.01); G16H 30/40 (2018.01); G16H 40/63 (2018.01); A61B 2034/2055 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); A61B 2090/371 (2016.02); A61B 2090/373 (2016.02); G06T 2207/30004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient;
obtain, from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument; and
perform, based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient.
 
11. A method comprising:
obtaining, by an operation management system from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient;
obtaining, by the operation management system from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument, auxiliary sensor data from an auxiliary sensor not included in the imaging device; and
performing, by the operation management system based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient.
 
20. A non-transitory computer-readable medium storing instructions that, when executed, direct a processor of a computing device to:
obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient;
obtain, from a force sensor integrated into a surgical instrument controlled by a computer-assisted surgical system, force sensing data representative of an amount of external force applied to the surgical instrument; and
perform, based on the depth data and the force sensing data, an operation associated with the computer-assisted surgical system configured to perform a procedure within the internal space of the patient.