ENDOLUMENAL OBJECT SIZING
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Accused Products
Abstract
An object sizing system sizes an object positioned within a patient. The object sizing system identifies a presence of the object. The object sizing system navigates an elongate body of an instrument to a position proximal to the object within the patient. An imaging sensor coupled to the elongate body captures one or more sequential images of the object. The instrument may be further moved around within the patient to capture additional images at different positions/orientations relative to the object. The object sizing system also acquires robot data and/or EM data associated with the positions and orientations of the elongate body. The object sizing system analyzes the captured images based on the acquired robot data to estimate a size of the object.
196 Citations
49 Claims
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1-29. -29. (canceled)
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30. A method for sizing an object within a patient, the method comprising:
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navigating an elongate body to a location within the patient and proximate to the object, the elongate body comprising an imaging sensor for capturing images of the object and a basket for capturing the object; capturing sequential images of the object and the basket with the imaging sensor while navigating the elongate body into at least one of a different orientation and a different position; accessing, with a processor, a set of robot data indicative of the orientation and position of the elongate body during the capture of the sequential images, wherein the accessed set of robot data comprises data from which a position and size of a basket can be determined; and analyzing, with the processor, the sequential images to estimate a size of the object based on; identifying those images depicting at least a portion of the object and at least a portion of a basket; and determining the estimated size of the object based on the position and the size of the basket relative to the object in the identified images. - View Dependent Claims (31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A system for sizing an object within a patient, the system comprising:
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an elongate body comprising an imaging sensor for capturing images of the object and a basket for capturing the object; and a computer comprising instructions that, when executed by a processor of the computer, cause the computer to; navigate the elongate body into the patient and to a location proximate to the object, the navigating enabled by a robotic manipulator; capture sequential images of the object and the basket with the imaging sensor while navigating the elongate body into at least one of a different orientation and a different position; access a set of robotic data describing the changing orientation and position of the elongate body during the capture of the sequential images; and analyze the sequential images to estimate a size of the object based on; identifying those images depicting at least a portion of the object and at least a portion of a basket; and determining the estimated size of the object based on the position and the size of the basket relative to the object in the identified images. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49)
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Specification