US 11,998,282 B2
Systems and methods for teleoperated control of an imaging instrument
Mahdi Azizian, Santa Clara, CA (US); Jonathan M. Sorger, Belmont, CA (US); Oliver J. Wagner, Mountain View, CA (US); and Andrew C. Waterbury, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 16/470,050
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Dec. 15, 2017, PCT No. PCT/US2017/066843
§ 371(c)(1), (2) Date Jun. 14, 2019,
PCT Pub. No. WO2018/112424, PCT Pub. Date Jun. 21, 2018.
Claims priority of provisional application 62/435,399, filed on Dec. 16, 2016.
Prior Publication US 2020/0015910 A1, Jan. 16, 2020
Int. Cl. A61B 34/20 (2016.01); A61B 17/34 (2006.01); A61B 34/35 (2016.01); A61B 90/96 (2016.01); A61B 1/00 (2006.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 17/30 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 17/3403 (2013.01); A61B 34/35 (2016.02); A61B 90/96 (2016.02); A61B 1/00193 (2013.01); A61B 2010/045 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00876 (2013.01); A61B 17/29 (2013.01); A61B 2017/306 (2013.01); A61B 2017/3413 (2013.01); A61B 2018/00577 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2034/302 (2016.02); A61B 2090/364 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical imaging system comprising:
a teleoperated assembly including a medical instrument;
a first imaging instrument for generating a first image of a field of view of the first imaging instrument;
a second imaging instrument for generating a second image; a tracking fixture engageable along at least a portion of the second imaging instrument, the tracking fixture including one or more features wherein the medical instrument is attachable to an attachment feature of the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument; and
a processor configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture and the first image.