US 12,458,206 B2
Systems and methods for intraoperative segmentation
Tao Zhao, Sunnyvale, CA (US); Vincent Duindam, San Francisco, CA (US); Caitlin Q. Donhowe, Mountain View, CA (US); Timothy D. Soper, San Jose, CA (US); and Federico Barbagli, San Francisco, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 2, 2022, as Appl. No. 17/879,328.
Application 17/879,328 is a continuation of application No. 15/329,676, granted, now 11,445,934, previously published as PCT/US2015/040988, filed on Jul. 17, 2015.
Claims priority of provisional application 62/029,927, filed on Jul. 28, 2014.
Prior Publication US 2022/0378316 A1, Dec. 1, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 5/06 (2006.01); G06T 7/00 (2017.01); G06T 7/149 (2017.01); G06T 7/50 (2017.01); G06T 7/73 (2017.01)
CPC A61B 1/00006 (2013.01) [A61B 1/00147 (2013.01); A61B 5/06 (2013.01); A61B 5/065 (2013.01); A61B 5/066 (2013.01); A61B 34/20 (2016.02); G06T 7/149 (2017.01); G06T 7/50 (2017.01); G06T 7/75 (2017.01); G06T 7/97 (2017.01); A61B 5/062 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/30061 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a medical instrument including a camera and a position sensor, the camera and the position sensor positioned within a flexible elongate body of the medical instrument; and
a processing unit including one or more processors, wherein the processing unit is configured to:
receive data related to a patient anatomy from the camera and the position sensor while the medical instrument traverses the patient anatomy;
construct an anatomic model of the patient anatomy from the data received from the camera and the position sensor, wherein constructing the anatomic model of the patient anatomy from the data received from the camera and the position sensor includes constructing the anatomic model independent of preoperative data;
generate an image of the anatomic model for display; and
register a position of the medical instrument to the anatomic model.