公开(公告)号：EP3613547A1

公开(公告)日：2020-02-26

申请号：EP19201566.7

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 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/20 ,  A61B34/00

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：EP3590460A1

公开(公告)日：2020-01-08

申请号：EP19191254.2

申请日：2015-03-17

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  HANUSCHIK, Michael ,  MOHR, Paul, W. ,  HOURTASH, Arjang, M.

IPC分类号： A61B90/00 ,  A61B34/30 ,  A61B34/37

摘要： A system and method of recentering end effectors and input controls includes a medical device having one or more end effectors, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

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：EP4082468A1

公开(公告)日：2022-11-02

申请号：EP22179750.9

申请日：2013-09-16

申请人： Intuitive Surgical Operations, Inc.

发明人： GOLDBERG, Randal, P. ,  HANUSCHIK, Michael ,  MILLMAN, Paul ,  MOHR, Paul, W. ,  NIXON, Thomas, R. ,  ROBINSON, David

IPC分类号： A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B18/14 ,  A61B90/98 ,  A61B17/00

摘要： A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

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：EP2895098A1

公开(公告)日：2015-07-22

申请号：EP13836661.2

申请日：2013-09-16

申请人： Intuitive Surgical Operations, Inc.

发明人： GOLDBERG, Randal, P. ,  HANUSCHIK, Michael ,  MILLMAN, Paul ,  MOHR, Paul, W. ,  NIXON, Thomas, R. ,  ROBINSON, David

IPC分类号： A61B19/00 ,  B25J13/02 ,  B25J13/06 ,  B25J13/04

CPC分类号： A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

摘要： A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

公开(公告)号：EP2349053A1

公开(公告)日：2011-08-03

申请号：EP09792281.9

申请日：2009-09-04

申请人： Intuitive Surgical Operations, Inc.

发明人： DIOLAITI, Nicola ,  LARKIN, David, Q. ,  GOMEZ, Daniel ,  MUSTAFA, Tabish ,  MOHR, Paul, W. ,  LILAGAN, Paul, E.

IPC分类号： A61B19/00 ,  B25J3/00 ,  G06T17/00 ,  G09B23/28

CPC分类号： A61B1/00149 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/05 ,  A61B1/313 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/77 ,  A61B90/03 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00119 ,  A61B2034/102 ,  A61B2034/2074 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365 ,  G06T7/70 ,  G09B23/285

摘要： A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

摘要翻译： 的医疗机器人系统，包括入口导向器（200）与外科手术工具（231，241），并延伸出来的其远端的照相机（211）。 为了补充由摄像机拍摄的图像所提供的视图，以包括外科工具和/或摄像机可铰接臂的辅助视图从感测到的或关于他们的位置和取向，否则确定性挖掘的信息和显示从在显示屏幕（140）上生成 指定的观察点的透视图。 当操作员控制摄像机的定位和取向直观地控制被提供给操作者在相对于所述辅助视图。

公开(公告)号：EP3566672A1

公开(公告)日：2019-11-13

申请号：EP19181852.5

申请日：2015-03-17

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon, D. ,  HOFFMAN, Brian, D. ,  MOHR, Paul, W.

IPC分类号： A61B90/00 ,  A61B34/37

摘要： A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

公开(公告)号：EP2349053B1

公开(公告)日：2018-02-21

申请号：EP09792281.9

申请日：2009-09-04

申请人： Intuitive Surgical Operations, Inc.

发明人： DIOLAITI, Nicola ,  LARKIN, David, Q. ,  GOMEZ, Daniel ,  MUSTUFA, Tabish ,  MOHR, Paul, W. ,  LILAGAN, Paul, E.

IPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  B25J3/00 ,  G06T17/00 ,  G09B23/28

CPC分类号： A61B1/00149 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/05 ,  A61B1/313 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/77 ,  A61B90/03 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00119 ,  A61B2034/102 ,  A61B2034/2074 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365 ,  G06T7/70 ,  G09B23/285

摘要： A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

公开(公告)号：EP2713922A1

公开(公告)日：2014-04-09

申请号：EP12766734.3

申请日：2012-05-30

申请人： Intuitive Surgical Operations, Inc.

发明人： DURANT, Kevin ,  HANUSCHIK, Michael ,  MOHR, Paul, W. ,  HSIA, Jack

IPC分类号： A61B18/00 ,  A61B17/00

CPC分类号： A61B19/2203 ,  A61B34/25 ,  A61B34/30 ,  A61B2090/0801 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09 ,  Y10S901/45 ,  Y10S901/46

摘要： A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user's readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user's readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.