US 12,408,891 B2
Systems and methods for interventional procedure planning
Caitlin Q. Donhowe, Mountain View, CA (US); Prashant Chopra, Foster City, CA (US); Dorin Panescu, San Jose, CA (US); Carol Reiley, Mountain View, 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. 21, 2023, as Appl. No. 18/516,835.
Application 18/516,835 is a continuation of application No. 17/867,212, filed on Jul. 18, 2022, granted, now 11,871,898.
Application 17/867,212 is a continuation of application No. 16/751,797, filed on Jan. 24, 2020, granted, now 11,426,141, issued on Aug. 30, 2022.
Application 16/751,797 is a continuation of application No. 16/247,057, filed on Jan. 14, 2019, granted, now 10,582,909, issued on Mar. 10, 2020.
Application 16/247,057 is a continuation of application No. 14/144,232, filed on Dec. 30, 2013, abandoned.
Claims priority of provisional application 61/747,920, filed on Dec. 31, 2012.
Prior Publication US 2024/0081775 A1, Mar. 14, 2024
Int. Cl. A61B 34/10 (2016.01); A61B 8/00 (2006.01); A61B 8/08 (2006.01); A61B 8/12 (2006.01); A61B 10/04 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 90/00 (2016.01)
CPC A61B 8/12 (2013.01) [A61B 8/0841 (2013.01); A61B 8/085 (2013.01); A61B 8/4263 (2013.01); A61B 10/04 (2013.01); A61B 17/00234 (2013.01); A61B 34/10 (2016.02); A61B 5/0066 (2013.01); A61B 5/065 (2013.01); A61B 8/4245 (2013.01); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2090/364 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system for performing an interventional procedure, the system comprising:
an interventional instrument; and
a control system comprising one or more processors and memory comprising machine-readable instructions that, when executed by the one or more processors, cause the system to:
receive a model of an anatomic structure, the anatomic structure including a plurality of passageways;
identify a target structure in the model;
identify a planned deployment location for positioning a distal tip of the interventional instrument to perform the interventional procedure on the target structure;
determine whether an angle of approach of the distal tip relative to a passageway wall of a passageway of the plurality of passageways at the planned deployment location is acceptable;
receive pose information for at least a distal portion of the interventional instrument from a sensor system, the pose information being in an interventional instrument reference frame;
register the interventional instrument reference frame to a model reference frame of the model;
register the interventional instrument reference frame to a patient reference frame of the anatomic structure;
navigate, via computer control or based on user input, the interventional instrument to the planned deployment location and the determined acceptable angle based on the pose information from the sensor system to perform the interventional procedure on the target structure; and
perform the interventional procedure on the target structure.