Method and apparatus to provide updated patient images during robotic surgery

US9622831B2 · kind B2 · utility

Assignees

• Siemens Healthcare Limited · DE
• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Mahdi Azizian · Santa Clara, US
• Lutz Blohm · Möhrendorf, DE
• Holger Kunze · Bubenreuth, DE
• Christine Niebler · Crimmitschau, DE
• Jonathan M. Sorger · Belmont, US

Key dates

• Filing date: May 20, 2015
• Grant date: Apr 18, 2017
• Expiry date: Sep 5, 2035

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/3762
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.