US 12,004,820 B2
Systems and methods of registration for image-guided surgery
Caitlin Q Donhowe, Mountain View, CA (US); Vincent Duindam, San Francisco, CA (US); Timothy D. Soper, San Jose, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Nov. 22, 2021, as Appl. No. 17/532,369.
Application 17/532,369 is a continuation of application No. 15/752,166, granted, now 11,202,680, previously published as PCT/US2016/046636, filed on Aug. 11, 2016.
Claims priority of provisional application 62/205,433, filed on Aug. 14, 2015.
Prior Publication US 2022/0071715 A1, Mar. 10, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 5/00 (2006.01); A61B 5/01 (2006.01); A61B 5/0536 (2021.01); A61B 5/055 (2006.01); A61B 5/06 (2006.01); A61B 6/03 (2006.01); A61B 8/08 (2006.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); G06T 7/12 (2017.01); G06T 7/33 (2017.01)
CPC A61B 34/20 (2016.02) [A61B 1/0016 (2013.01); A61B 5/0066 (2013.01); A61B 5/015 (2013.01); A61B 5/0536 (2013.01); A61B 5/055 (2013.01); A61B 5/062 (2013.01); A61B 5/066 (2013.01); A61B 6/032 (2013.01); A61B 8/0841 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 90/37 (2016.02); G06T 7/12 (2017.01); G06T 7/33 (2017.01); G06T 7/344 (2017.01); A61B 2017/00699 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/3937 (2016.02); G06T 2200/24 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10088 (2013.01); G06T 2207/10116 (2013.01); G06T 2207/30061 (2013.01); G06T 2207/30172 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a set of model points of a model of one or more passageways of a patient;
receiving a set of measured points collected from within the one or more passageways of the patient, each point comprising coordinates within a medical environment occupied by the patient;
assigning weights to one or more of the measured points;
matching each measured point to a model point to generate a set of matches, a value of each of the matches depending on the assigned weight of the measured point in the match; and
moving the set of measured points relative to the set of model points based on the set of matches.