US 12,138,012 B2
Systems and methods for medical procedures using optical coherence tomography sensing
Federico Barbagli, San Francisco, CA (US); and Christopher R. Carlson, Belmont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 24, 2022, as Appl. No. 17/894,849.
Application 17/894,849 is a continuation of application No. 16/491,023, granted, now 11,464,411, previously published as PCT/US2018/022015, filed on Mar. 12, 2018.
Claims priority of provisional application 62/470,540, filed on Mar. 13, 2017.
Prior Publication US 2023/0000354 A1, Jan. 5, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/00 (2006.01); A61B 10/04 (2006.01); A61B 34/37 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61M 25/01 (2006.01)
CPC A61B 5/0036 (2018.08) [A61B 5/0066 (2013.01); A61B 5/0084 (2013.01); A61B 10/04 (2013.01); A61B 34/37 (2016.02); A61B 2010/045 (2013.01); A61B 2017/00119 (2013.01); A61B 2034/302 (2016.02); A61B 2090/3735 (2016.02); A61M 25/0102 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for performing a minimally invasive procedure, the system comprising:
a flexible catheter with a lumen extending therethrough;
an elongate instrument sized for passage through the lumen;
an optical coherence tomographic sensor coupled to the elongate instrument; and
a control system including one or more processors, wherein the control system is configured to:
receive sensor data from the optical coherence tomographic sensor;
profile a tissue based on the received sensor data; and
determine a distance between the elongate instrument and the profiled tissue.