US 12,307,581 B2
Elongate device references for image-guided procedures
Zachary F. Moller, San Francisco, CA (US); Leah R. Muller, San Francisco, CA (US); and Cynthia Warman, San Carlos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Sep. 28, 2022, as Appl. No. 17/955,368.
Claims priority of provisional application 63/249,502, filed on Sep. 28, 2021.
Prior Publication US 2023/0099522 A1, Mar. 30, 2023
Int. Cl. G06T 15/20 (2011.01); B25J 9/16 (2006.01); G06T 7/70 (2017.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01)
CPC G06T 15/20 (2013.01) [B25J 9/1689 (2013.01); G06T 7/70 (2017.01); A61B 2034/2059 (2016.02); A61B 34/25 (2016.02); A61B 2034/301 (2016.02); G06T 2200/24 (2013.01); G06T 2207/10068 (2013.01); G06T 2210/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
an elongate device;
a display system;
one or more processors; and
memory storing instructions that, when executed by the one or more processors, cause the one or more processors to:
determine a pose, within a workspace, of at least one of:
a distal portion of the elongate device, or
an instrument extendable from the distal portion of the elongate device;
acquire a reference pose of the at least one of:
the distal portion of the elongate device, or
the instrument;
generate an elongate device reference corresponding to the reference pose;
generate an image of the workspace from a perspective of a point located behind the distal portion of the elongate device; and
display, on the display system and on the image of the workspace, the elongate device reference at the reference pose and the distal portion of the elongate device.