US 12,108,992 B2
Systems and methods for tracking a position of a robotically-manipulated surgical instrument
Siddarth Sen, San Jose, CA (US); Brian D. Hoffman, Mountain View, CA (US); and Geoffrey A. Richmond, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/264,257
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Jul. 27, 2019, PCT No. PCT/US2019/043825
§ 371(c)(1), (2) Date Jan. 28, 2021,
PCT Pub. No. WO2020/028202, PCT Pub. Date Feb. 6, 2020.
Claims priority of provisional application 62/712,368, filed on Jul. 31, 2018.
Prior Publication US 2021/0290317 A1, Sep. 23, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 34/00 (2016.01); G06N 3/047 (2023.01)
CPC A61B 34/20 (2016.02) [A61B 34/70 (2016.02); G06N 3/047 (2023.01); A61B 2034/2065 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical instrument tracking system comprising:
a memory storing instructions;
a processor communicatively coupled to the memory and configured to execute the instructions to:
determine, based on imagery of a surgical area, an observation for an object of interest depicted in the imagery;
determine a probability of an association of the observation to a robotically-manipulated surgical instrument located at the surgical area based on kinematics of the robotically-manipulated surgical instrument;
associate the observation for the object of interest to the robotically-manipulated surgical instrument based on the probability; and
determine a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.