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公开(公告)号：US11478308B2
公开(公告)日：2022-10-25
申请号：US16910818
申请日：2020-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B5/06 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/10 , A61B5/00
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US11116578B2
公开(公告)日：2021-09-14
申请号：US15371154
申请日：2016-12-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B5/06 , A61B34/30 , A61B90/00 , A61B34/37 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/10 , A61B5/00
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US20170312036A1
公开(公告)日：2017-11-02
申请号：US15650804
申请日：2017-07-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B34/30 , A61B34/37 , A61B1/04 , A61B90/00 , A61B1/313 , A61B5/06 , A61B1/00 , A61B34/10 , A61B5/00
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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4.发明申请公开(公告)号：US20170258537A1
公开(公告)日：2017-09-14
申请号：US15607676
申请日：2017-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US09666101B2
公开(公告)日：2017-05-30
申请号：US15006555
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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Patent Agency Ranking
公开(公告)号：US09636186B2
公开(公告)日：2017-05-02
申请号：US15006549
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20140378995A1
公开(公告)日：2014-12-25
申请号：US14115092
申请日：2012-05-07
Inventor： Rajesh Kumar , Gregory D. Hager , Amod S. Jog , Yixin Gao , May Liu , Simon Peter DiMaio , Brandon Itkowitz , Myriam Curet
CPC classification number: A61B5/065 , A61B34/30 , A61B2034/107
Abstract: A computer-implemented method of analyzing a sample task trajectory including obtaining, with one or more computers, position information of an instrument in the sample task trajectory, obtaining, with the one or more computers, pose information of the instrument in the sample task trajectory, comparing, with the one or more computers, the position information and the pose information for the sample task trajectory with reference position information and reference pose information of the instrument for a reference task trajectory, determining, with the one or more computers, a skill assessment for the sample task trajectory based on the comparison, and outputting, with the one or more computers, the determined skill assessment for the sample task trajectory.
Abstract translation: 一种计算机实现的分析样本任务轨迹的方法，包括使用一个或多个计算机获取所述样本任务轨迹中的仪器的位置信息，用所述一个或多个计算机获取所述样本任务轨迹中的所述仪器的信息 将所述样本任务轨迹的所述位置信息和所述姿势信息与参考任务轨迹的所述仪器的参考位置信息和参考姿态信息进行比较，用所述一台或多台计算机确定技能 基于比较对样本任务轨迹进行评估，并且与一个或多个计算机一起输出所确定的样本任务轨迹的技能评估。
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公开(公告)号：US11672606B2
公开(公告)日：2023-06-13
申请号：US16396125
申请日：2019-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B1/00 , A61B34/30 , A61B90/00 , A61B5/06 , A61B34/37 , A61B1/04 , A61B1/313 , A61B34/10 , A61B5/00
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/00194 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B34/30 , A61B34/37 , A61B90/36 , A61B5/062 , A61B5/725 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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9.发明申请公开(公告)号：US20180185110A1
公开(公告)日：2018-07-05
申请号：US15866858
申请日：2018-01-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20170079726A1
公开(公告)日：2017-03-23
申请号：US15371158
申请日：2016-12-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Prisco , Guanghua G. Zhang , Rajesh Kumar
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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