US 12,458,457 B2
Systems and methods for planning multiple interventional procedures
Caitlin Q. Donhowe, Mountain View, CA (US); Tao Zhao, Sunnyvale, CA (US); Federico Barbagli, San Francisco, CA (US); Vincent Duindam, San Francisco, CA (US); and Timothy D. Soper, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 12, 2024, as Appl. No. 18/602,901.
Application 18/602,901 is a continuation of application No. 17/720,151, filed on Apr. 13, 2022, granted, now 11,957,424.
Application 17/720,151 is a continuation of application No. 15/329,899, granted, now 11,351,000, issued on Jun. 7, 2022, previously published as PCT/US2015/040994, filed on Jul. 17, 2015.
Claims priority of provisional application 62/029,942, filed on Jul. 28, 2014.
Prior Publication US 2024/0245476 A1, Jul. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/50 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/50 (2016.02); A61B 2017/00694 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02); A61B 34/71 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/371 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for planning multiple interventional procedures, comprising:
identifying a target structure in an anatomic frame;
determining a target region in the anatomic frame, wherein the target structure is located within the target region and the target region includes a plurality of target points, the target region being determined by a probabilistic collection of the plurality of target points;
identifying a first engagement location within the target region for deploying an interventional instrument; and
identifying a second engagement location for deploying the interventional instrument.