US 12,440,290 B2
Systems and methods for projecting an endoscopic image to a three-dimensional volume
Mahdi Azizian, San Jose, CA (US); and Simon P. DiMaio, San Carlos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 11, 2023, as Appl. No. 18/153,193.
Application 18/153,193 is a continuation of application No. 16/626,001, granted, now 11,583,349, previously published as PCT/US2018/039856, filed on Jun. 27, 2018.
Claims priority of provisional application 62/526,103, filed on Jun. 28, 2017.
Prior Publication US 2023/0218356 A1, Jul. 13, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 34/20 (2016.01); A61B 34/35 (2016.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 1/00009 (2013.01); A61B 1/000094 (2022.02); A61B 1/00194 (2022.02); A61B 34/20 (2016.02); A61B 34/35 (2016.02); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3762 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system, wherein the endoscopic image dataset comprises a plurality of two-dimensional endoscopic images;
retrieving an anatomic model dataset of the patient anatomy obtained by an external anatomic imaging system;
mapping the plurality of two-dimensional endoscopic images of the endoscopic image dataset onto a three-dimensional volume defined by the anatomic model dataset;
constructing, during a medical procedure, a first three-dimensional vantage point image using the mapped endoscopic image dataset;
displaying the first three-dimensional vantage point image such that the first three-dimensional vantage point image is presented from a first vantage point of a distal end of the endoscopic imaging system, the first vantage point corresponding to a first location of the distal end of the endoscopic imaging system;
generating a first three-dimensional anatomic model image from the anatomic model dataset;
displaying, during the medical procedure, the first three-dimensional anatomic model image, with the first three-dimensional vantage point image, by overlaying the first three-dimensional vantage point image on the first three-dimensional anatomic model image;
receiving user instructions to move the distal end of the endoscopic imaging system from the first location to a second location;
constructing, during the medical procedure, a second three-dimensional vantage point image using the mapped endoscopic image dataset; and
displaying the second three-dimensional vantage point image such that the second three-dimensional vantage point image is presented from a second vantage point of the distal end of the endoscopic imaging system, the second vantage point corresponding to the second location of the distal end of the endoscopic imaging system, the second vantage point being different from the first vantage point.