US 12,471,799 B2
Determining position of medical device in branched anatomical structure
Tao Zhao, Sunnyvale, CA (US); and Giuseppe Maria Prisco, Calci (IT)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 11, 2024, as Appl. No. 18/410,802.
Application 18/410,802 is a continuation of application No. 17/136,550, filed on Dec. 29, 2020, granted, now 11,903,693.
Application 17/136,550 is a continuation of application No. 15/486,246, filed on Apr. 12, 2017, granted, now 10,888,248, issued on Jan. 12, 2021.
Application 15/486,246 is a continuation of application No. 14/048,331, filed on Oct. 8, 2013, abandoned.
Claims priority of provisional application 61/713,010, filed on Oct. 12, 2012.
Prior Publication US 2024/0237912 A1, Jul. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/00 (2006.01); A61B 1/00 (2006.01); A61B 1/267 (2006.01); A61B 5/06 (2006.01); A61B 34/20 (2016.01); G06T 7/73 (2017.01); A61B 6/00 (2006.01); A61B 6/12 (2006.01); A61B 8/00 (2006.01); A61B 8/08 (2006.01); A61B 34/10 (2016.01); A61B 90/00 (2016.01)
CPC A61B 5/066 (2013.01) [A61B 1/0005 (2013.01); A61B 1/2676 (2013.01); A61B 5/0059 (2013.01); A61B 5/064 (2013.01); A61B 34/20 (2016.02); G06T 7/75 (2017.01); A61B 6/12 (2013.01); A61B 6/5247 (2013.01); A61B 8/0841 (2013.01); A61B 8/5261 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2065 (2016.02); A61B 2090/365 (2016.02); G06T 2207/10016 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/30004 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
memory that stores information representing a model of an anatomical structure;
a medical device including a distal end that is configured to be inserted into the anatomical structure, the distal end supporting an image capturing device configured to capture images as the medical device is moved through branches of the anatomical structure; and
one or more processing devices communicatively coupled to the memory and the medical device, the one or more processing devices configured to:
receive, from the medical device, representations of sequential images captured using the image capturing device, wherein the sequential images form a tracklet associated with a first lumen of the anatomical structure and depict a set of blobs corresponding to a set of lumens in the anatomical structure that are tracked across the sequential images,
process the captured sequential images to detect a change in the set of blobs;
responsive to detecting the change in the set of blobs, process the sequential images to determine that the change in the set of blobs is due to a false positive or a false negative;
correct the false positive or false negative by maintaining the tracking of the set of blobs as a corrected set of blobs;
determine that the distal end of the medical device transitioned into a second lumen of the anatomical structure; and
determine, based in part on the corrected set of blobs, a location of the distal end of the medical device within the anatomical structure.