公开(公告)号：EP3459687A3

公开(公告)日：2019-06-26

申请号：EP18203548.5

申请日：2010-06-11

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  DIMAIO, Simon ,  NOWLIN, William, C. ,  NIEMEYER, Gunter, D. ,  MINTZ, David, S.

IPC分类号： B25J9/16 ,  A61B34/35

摘要： A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

公开(公告)号：EP2442743B1

公开(公告)日：2018-10-03

申请号：EP10720850.6

申请日：2010-05-19

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher J. ,  CURET, Myriam J. ,  MOHR, Catherine J. ,  STEIN, Hubert

IPC分类号： A61B34/35 ,  A61B34/37 ,  A61B90/00

CPC分类号： A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

公开(公告)号：EP3246135A1

公开(公告)日：2017-11-22

申请号：EP17175195.1

申请日：2010-03-26

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  HALABE, Daniel, J. ,  ZHAO, Tao ,  DIMAIO, Simon ,  HASSER, Christopher, J ,  MOHR, Catherine, J ,  MOHR, Paul, W ,  LARKIN, David, Q ,  ZHAO, Wenyi ,  HOFFMAN, Brian, David

IPC分类号： B25J9/16 ,  G05B19/42

CPC分类号： B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

摘要翻译： 用于在机器人系统的用户界面上显示的机器人工具的综合表示。 合成表示可以用于示出图像捕获设备的观看体积相对于机器人的位置。 合成表示还可用于查找视野外的工具，显示工具的运动范围范围，远程传达有关机器人的信息以及检测碰撞。

公开(公告)号：EP3092969A3

公开(公告)日：2017-03-01

申请号：EP16171397.9

申请日：2010-11-11

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  BARK, Karlin Y

IPC分类号： A61B34/00 ,  A61B17/00 ,  G06F3/01

CPC分类号： G06F3/014 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/2051 ,  A61B2034/2065 ,  A61B2034/741

摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

摘要翻译： 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且将基于系统控制参数的命令注入到微创外科系统中。

公开(公告)号：EP2442744B1

公开(公告)日：2015-11-04

申请号：EP10724951.8

申请日：2010-06-03

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher, J. ,  CURET, Myriam, J. ,  MOHR, Catherine, J. ,  STEIN, Hubert

IPC分类号： A61B19/00 ,  A61B5/107 ,  A61B17/00

CPC分类号： A61B19/2203 ,  A61B5/1072 ,  A61B8/4209 ,  A61B8/483 ,  A61B17/00234 ,  A61B17/282 ,  A61B18/1482 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/105 ,  A61B2090/061

公开(公告)号：EP2414137A2

公开(公告)日：2012-02-08

申请号：EP10717330.4

申请日：2010-03-26

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  HALABE, Daniel, J. ,  ZHAO, Tao ,  DIMAIO, Simon ,  HASSER, Christopher, J. ,  MOHR, Catherine, J. ,  MOHR, Paul, W. ,  LARKIN, David, Q. ,  ZHAO, Wenyi ,  HOFFMAN, Brian, David

IPC分类号： B25J9/16 ,  G05B19/42 ,  A61B19/00

CPC分类号： B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

摘要翻译： 用于在机器人系统的用户界面上显示的机器人工具的合成表示。 合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。 合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。

公开(公告)号：EP2498711B1

公开(公告)日：2018-01-10

申请号：EP10855123.5

申请日：2010-11-11

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  DIMAIO, Simon ,  ZHAO, Tao

IPC分类号： A61B34/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/98 ,  A61B2017/00207 ,  A61B2034/2051 ,  A61B2034/741 ,  G06F3/014 ,  G06F2203/0331

摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

公开(公告)号：EP2414137B1

公开(公告)日：2017-06-21

申请号：EP10717330.4

申请日：2010-03-26

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  HALABE, Daniel, J. ,  ZHAO, Tao ,  DIMAIO, Simon ,  HASSER, Christopher, J. ,  MOHR, Catherine, J. ,  MOHR, Paul, W. ,  LARKIN, David, Q. ,  ZHAO, Wenyi ,  HOFFMAN, Brian, David

IPC分类号： B25J9/16 ,  G05B19/42 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC分类号： B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：EP3092968A3

公开(公告)日：2017-02-22

申请号：EP16161257.7

申请日：2010-11-11

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  LILAGAN, Paul E ,  ZHAO, Tao

IPC分类号： A61B34/00 ,  A61B17/00 ,  G06F3/01

CPC分类号： A61B34/76 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/60 ,  A61B90/98 ,  A61B2017/00207 ,  A61B2017/00221 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/741 ,  A61B2090/3937 ,  A61B2090/3945 ,  A61B2090/397 ,  Y10S901/02 ,  Y10S901/46

摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

摘要翻译： 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且将基于系统控制参数的命令注入到微创外科系统中。

公开(公告)号：EP2480158A1

公开(公告)日：2012-08-01

申请号：EP10801733.6

申请日：2010-11-11

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  LILAGAN, Paul E. ,  ZHAO, Tao

IPC分类号： A61B19/00 ,  A61B17/00 ,  G06F3/01

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  A61B2017/00207 ,  A61B2017/00221 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/741 ,  A61B2090/3937 ,  A61B2090/3945 ,  A61B2090/397 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  Y10S901/02 ,  Y10S901/46

摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

摘要翻译： 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且将基于系统控制参数的命令注入到微创外科系统中。