US 12,144,564 B2
Systems and methods for registering an instrument to an image using change in instrument position data
Federico Barbagli, San Francisco, CA (US); Troy K. Adebar, San Jose, CA (US); Sungwon Yoon, Palo Alto, CA (US); Hui Zhang, San Jose, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/774,797
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Nov. 5, 2020, PCT No. PCT/US2020/059025
§ 371(c)(1), (2) Date May 5, 2022,
PCT Pub. No. WO2021/092116, PCT Pub. Date May 14, 2021.
Claims priority of provisional application 62/932,858, filed on Nov. 8, 2019.
Prior Publication US 2022/0387115 A1, Dec. 8, 2022
Int. Cl. A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); G06T 7/20 (2017.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 10/74 (2022.01)
CPC A61B 34/20 (2016.02) [A61B 34/10 (2016.02); A61B 34/37 (2016.02); G06T 7/20 (2013.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 10/761 (2022.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2090/3764 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a processor; and
a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to:
record position data for an instrument during an image capture period, wherein the instrument is moving during the image capture period;
determine an instrument position change for a distal portion of the instrument from the recorded position data;
compare the instrument position change to a position change threshold; and
based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure, wherein determining whether to use the image data captured by the imaging system includes initiating the registration procedure if the instrument position change is less than the position change threshold.