Prashant Chopra

US Patent:

20120289777, Nov 15, 2012

Filed:

May 13, 2011

Appl. No.:

13/107562

Inventors:

Prashant Chopra - Sunnyvale CA, US
Caitlin Q. Donhowe - Sunnyvale CA, US
Vincent Duindam - Oakland CA, US
Giuseppe Maria Prisco - Mountain View CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 1/00
G06K 9/00
A61B 1/04

US Classification:

600109, 600117, 382128

Abstract:

A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.

US Patent:

20120289843, Nov 15, 2012

Filed:

Nov 15, 2011

Appl. No.:

13/297066

Inventors:

Prashant Chopra - Sunnyvale CA, US
Caitlin Q. Donhowe - Sunnyvale CA, US
Vincent Duindam - Mountain View CA, US
Giuseppe Maria Prisco - Mountain View CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 5/11
A61B 5/02
A61B 1/00
A61B 5/113

US Classification:

600508, 600595, 600534, 600593, 600481, 600117

Abstract:

A medical system provides navigation assistance to a surgeon for navigating a flexible medical device through linked passages of an anatomical structure to a target area. For tracking, navigation, and other purposes, information of extrema is determined during expansion and contraction cycles of an object by receiving time sampled information from sensors distributed along a length of a flexible device so as to indicate the shape of the device over time while the device extends through a lumen of the object so as to conform to and resemble the shape of the lumen, displacements over time of a selected point at a selected insertion length of the flexible device into the lumen of the object relative to a reference point are determined, extrema time points are determined by identifying sign changes of the slope of the determined displacements over time, and extrema types are determined using extrema type characteristics.

US Patent:

20130101082, Apr 25, 2013

Filed:

Jun 28, 2012

Appl. No.:

13/536737

Inventors:

Petr JORDAN - Redwood City CA, US
Andriy Myronenko - Sunnyvale CA, US
Jay B. West - Mountain View CA, US
Prashant Chopra - Foster City CA, US
Anuj K. Purwar - Fremont CA, US
Christopher A. Janko - Redwood City CA, US

International Classification:

A61B 6/12
A61B 6/03

US Classification:

378 19, 378 62

Abstract:

Apparatus for generating multi-energy x-ray images and systems and methods for processing and using multi-energy x-ray images are provided for treating a target, e.g., a tumor, for image-guided radiation therapy. An image-guided radiation therapy system is provided including a treatment delivery system, a multi-energy imaging system, and a system processor. The treatment delivery system includes a radiation source configured to generate treatment radiation beams. The multi-energy imaging system is configured to generate a first set of image data of the patient using imaging radiation at a first energy level and a second set of image data of the patient using imaging radiation at a second energy level. The system processor is configured to process the first and second sets of image data to generate an enhanced image of the patient and to direct the treatment delivery system based on information obtained from the enhanced image.

US Patent:

20130303890, Nov 14, 2013

Filed:

May 13, 2013

Appl. No.:

13/892871

Inventors:

Vincent Duindam - Mountain View CA, US
Prashant Chopra - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 5/06
G06T 7/00
A61B 19/00

US Classification:

600424, 382103

Abstract:

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.

US Patent:

20130303891, Nov 14, 2013

Filed:

May 13, 2013

Appl. No.:

13/892924

Inventors:

Prashant Chopra - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 5/06

US Classification:

600424

Abstract:

A method comprises identifying linked anatomical structures in stored images of a patient anatomy and modeling a structure of linkage elements. Each linkage element corresponds to one of the linked anatomical structures. The method also includes modeling a portion of the patient anatomy as a plurality of search slabs and assigning each of the linkage elements to one of the plurality of search slabs. The method also includes receiving tracking data corresponding to a sensed instrument portion. The tracking data includes position information and orientation information for the sensed instrument portion. The method also includes identifying one of the plurality of search slabs which includes the position information for the sensed instrument portion and matching the sensed instrument portion to a matched linkage element from among the linkage elements assigned to the identified one of the plurality of search slabs.

US Patent:

20130303892, Nov 14, 2013

Filed:

May 13, 2013

Appl. No.:

13/892974

Inventors:

Tao Zhao - Sunnyvale CA, US
Prashant Chopra - Sunnyvale CA, US
Vincent Duindam - Mountain View CA, US
Dorin Panescu - San Jose CA, US
Lei Fan - Seattle WA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 5/06

US Classification:

600424

Abstract:

A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

US Patent:

20130303893, Nov 14, 2013

Filed:

May 13, 2013

Appl. No.:

13/893008

Inventors:

Vincent Duindam - Mountain View CA, US
Prashant Chopra - Sunnyvale CA, US
Tao Zhao - Sunnyvale CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 5/06
A61B 5/00

US Classification:

600424

Abstract:

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

US Patent:

20130303894, Nov 14, 2013

Filed:

May 13, 2013

Appl. No.:

13/893040

Inventors:

Prashant Chopra - Sunnyvale CA, US

International Classification:

A61B 5/06

US Classification:

600424

Abstract:

A method comprises identifying connected anatomical structures in stored images of a patient anatomy and generating a plurality of cylindrical linkage elements representing the connected anatomical structures. The method also comprises receiving tracking data corresponding to a point on an instrument positioned within at least one of the connected anatomical structures; and matching the point on the instrument to one of the plurality of cylindrical linkage elements.