公开(公告)号：US20170079722A1

公开(公告)日：2017-03-23

申请号：US15126254

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'GRADY ,  Tao ZHAO ,  Christopher R. BURNS ,  Jason HEMPHILL ,  Brian D. HOFFMAN ,  Simon P. DIMAIO ,  Rodney VANCE

IPC: A61B34/20 ,  A61G13/00 ,  A61B90/98 ,  A61B34/00 ,  A61B34/35 ,  A61B90/96

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

公开(公告)号：US20230346494A1

公开(公告)日：2023-11-02

申请号：US18328886

申请日：2023-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  Paul E. LILAGAN ,  Tao ZHAO

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/00 ,  G05B15/02 ,  A61B34/35 ,  A61B90/98 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207

Abstract: Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

公开(公告)号：US20200242767A1

公开(公告)日：2020-07-30

申请号：US16076290

申请日：2017-02-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao ZHAO ,  Federico BARBAGLI ,  Caitlin Q DONHOWE ,  Vincent DUINDAM ,  Micheal D. PARIS ,  Timothy D. SOPER ,  Oliver J. WAGNER

IPC: G06T7/00 ,  G06T11/00 ,  A61B6/12 ,  A61B6/00 ,  A61B34/20

Abstract: A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.