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1. WO2021141920 - SYSTEM AND METHOD FOR INTER-ARM REGISTRATION

Publication Number WO/2021/141920
Publication Date 15.07.2021
International Application No. PCT/US2021/012213
International Filing Date 05.01.2021
IPC
A61B 34/20 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
A61B 34/30 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
A61B 34/00 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
A61B 90/00 2016.1
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/-A61B50/171
CPC
A61B 2034/2051
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2051Electromagnetic tracking systems
A61B 2034/2055
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2055Optical tracking systems
A61B 2034/2059
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
2046Tracking techniques
2059Mechanical position encoders
A61B 2034/301
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
30Surgical robots
301for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
A61B 2090/0807
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
90Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
08Accessories or related features not otherwise provided for
0807Indication means
A61B 34/20
AHUMAN NECESSITIES
61MEDICAL OR VETERINARY SCIENCE; HYGIENE
BDIAGNOSIS; SURGERY; IDENTIFICATION
34Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
20Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
Applicants
  • INTUITIVE SURGICAL OPERATIONS, INC. [US]/[US]
Inventors
  • RABINDRAN, Dinesh
  • DIMAIO, Simon P.
  • GOSWAMI, Ambarish G.
  • WOODRUFF, James Zachary
Agents
  • WELCH, Henry L.
  • NGUYEN, Frank
  • KUBODERA, John
  • CHENG, Wendy
  • ALLENBY, Christopher
  • LEE, Hwa
  • ISON, Lisa
  • MEI, Yiming
  • CHANG, Jeff
  • KOPLOW, Mike
  • CAREY, John C.
  • MIRZA, Sarah
Priority Data
62/957,53706.01.2020US
Publication Language English (en)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEM AND METHOD FOR INTER-ARM REGISTRATION
(FR) SYSTÈME ET PROCÉDÉ POUR ENREGISTREMENT INTER-BRAS
Abstract
(EN) Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.
(FR) L'invention concerne des systèmes et des procédés d'enregistrement inter-bras comprenant un système assisté par ordinateur ayant une unité de commande couplée à un bras repositionnable d'un dispositif assisté par ordinateur. L'unité de commande est configurée pour : recevoir, en provenance d'un dispositif d'imagerie, des images successives d'un instrument monté sur le bras repositionnable ; déterminer une vitesse observée d'une caractéristique de l'instrument ; déterminer une vitesse attendue de la caractéristique de l'instrument sur la base de la cinématique du bras repositionnable ; transformer la vitesse observée et/ou la vitesse attendue en un système de coordonnées commun à l'aide d'une transformée d'enregistrement ; déterminer une erreur entre des directions des vitesses observées et attendues dans le système de coordonnées commun ; et mettre à jour la transformée d'enregistrement sur la base de l'erreur déterminée. Dans certains modes de réalisation, l'instrument est un instrument médical et le dispositif d'imagerie est un endoscope. Dans certains modes de réalisation, l'unité de commande est en outre configurée pour commander l'instrument à l'aide de la transformée d'enregistrement.
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