Methods of Locating and Tracking Robotic Instruments in Robotic Surgical Systems

• US 20120020547A1
• Filed: 09/30/2011
• Published: 01/26/2012
• Est. Priority Date: 09/30/2007
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Zhao, Wenyi, Hasser, Christopher J., Nowlin, William C., Hoffman, Brian D.
• Granted Patent: US 8,792,963 B2
• Time in Patent Office: Days
• US Class Current: 382/153
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 1/3132 for laparoscopy
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 5/061 Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body A61B1/00158 takes precedence
• CPC Class Codes: A61B 5/1076 for measuring dimensions inside body cavities, e.g. using catheters A61B3/1005 takes precedence
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 13/089 Determining the position of the robot with reference to its environment
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 9/1656 characterised by programming, planning systems for manipulators
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/30004 : Biomedical image processing
• CPC Class Codes: G06T 2207/30241 : Trajectory
• CPC Class Codes: G06T 7/246 : using feature-based methods, e.g. the tracking of corners or segments
• CPC Class Codes: G06V 10/255 : Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 2201/034 : of medical instruments
• CPC Class Codes: G09B 23/28 : for medicine
• CPC Class Codes: G16H 20/40 : relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
• CPC Class Codes: G16H 30/40 : for processing medical images, e.g. editing
• CPC Class Codes: G16H 40/67 : for remote operation

Abstract

In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.

Claims

1-22. -22. (canceled)

23. A method of image guided surgery, the method comprising:

touching tissue in a surgical site with a first tool tip of a first robotic tool;

touching tissue in the surgical site with a second tool tip of a second robotic tool;

capturing a sequence of images of the surgical site including the first robotic tool and the second robotic tool;

fusing kinematics information and image information of the first robotic tool together to estimate a first tool tip location;

fusing kinematics information and image information of the second robotic tool together to estimate a second tool tip location; and

comparing the first tool tip location and the second tool tip location to determine a distance between them.

24. The method of claim 23, wherein

the first tool tip touches a first external surface of a tumor;

the second tool tip touches a second external surface of the tumor; and

the comparing determines a diameter of the tumor.

25. The method of claim 23, wherein

the first tool tip touches a first external surface of an organ;

the second tool tip touches a second external surface of the organ; and

the comparing determines a diameter of the organ.