公开(公告)号：US12266040B2

公开(公告)日：2025-04-01

申请号：US18437072

申请日：2024-02-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40

Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

公开(公告)号：US12232834B2

公开(公告)日：2025-02-25

申请号：US18544238

申请日：2023-12-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Jason Hemphill ,  Goran A Lynch ,  Daniel N. Miller ,  Patrick O'Grady ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/00 ,  A61B34/30 ,  A61G13/02

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20240189049A1

公开(公告)日：2024-06-13

申请号：US18537354

申请日：2023-12-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Timothy B. Hulford ,  Tabish Mustufa ,  Manqi Xu

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B2017/00973 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/256 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/366 ,  A61B2217/005 ,  A61B2217/007

Abstract: A teleoperational system in a surgical environment is provided. The system comprises a teleoperational assembly including a first teleoperational arm and a visual projection device coupled to the teleoperational assembly. The system further comprises a sensor and one or more processors. The one or more processors are configured to: receive first sensor information from the sensor; determine a first visual aid based upon the first sensor information; operate the visual projection device to project the first visual aid into the surgical environment; and operate the visual projection device to change the first visual aid to a second visual aid based on second sensor information received from the sensor.

公开(公告)号：US11730550B2

公开(公告)日：2023-08-22

申请号：US16324891

申请日：2017-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Julie L. Berry ,  Anthony Michael Jarc ,  Amy E. Kerdok

IPC: G16H40/63 ,  A61B34/00 ,  A61G13/02 ,  A61B34/35

CPC classification number: A61B34/25 ,  A61G13/02 ,  G16H40/63 ,  A61B34/35 ,  A61B2034/252 ,  A61B2034/256 ,  A61B2034/258

Abstract: A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user. The user profile includes a parameter established during a prior teleoperational procedure. The parameter includes anthropometric data for the user. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting an operating table based on the anthropometric data.

公开(公告)号：US11696803B2

公开(公告)日：2023-07-11

申请号：US17835604

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Goran A. Lynch

IPC: G06F17/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B18/00 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.

公开(公告)号：US11666400B2

公开(公告)日：2023-06-06

申请号：US17167237

申请日：2021-02-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Thomas R. Nixon

IPC: B25J9/06 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B46/10 ,  A61B50/18

CPC classification number: A61B34/35 ,  A61B34/25 ,  A61B34/30 ,  A61B46/10 ,  A61B50/10 ,  A61B50/13 ,  A61B2050/105 ,  A61B2050/185

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.

公开(公告)号：US11589939B2

公开(公告)日：2023-02-28

申请号：US16759073

申请日：2018-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert G. Stricko, III ,  Brandon D. Itkowitz ,  Amy E. Kerdok ,  Brett M. Page ,  Jason A. Pile

IPC: A61B34/10 ,  B25J9/16 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J17/02 ,  A61B34/30 ,  G06T15/08 ,  G06T17/00

Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.

公开(公告)号：US20230019316A1

公开(公告)日：2023-01-19

申请号：US17954230

申请日：2022-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi HE ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

公开(公告)号：US11500472B2

公开(公告)日：2022-11-15

申请号：US17147386

申请日：2021-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

公开(公告)号：US20220175473A1

公开(公告)日：2022-06-09

申请号：US17600061

申请日：2020-03-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Heath Feather ,  Rohitkumar Godhani ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Adam T. Schmidt ,  Siddarth Sen

IPC: A61B34/30 ,  G06T7/50 ,  G06T7/70

Abstract: An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.