Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US11116578B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 6, 2016 |
| Grant date | Sep 14, 2021 |
| Priority date | — |
| Expiry date | Jan 11, 2039 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/364
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.