公开(公告)号：US12045318B2

公开(公告)日：2024-07-23

申请号：US17293004

申请日：2019-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06V10/82 ,  G06F18/20 ,  G06F18/21 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04

CPC classification number: G06F18/285 ,  G06F18/214 ,  G06F18/2163 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82 ,  G06V2201/031

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US20240243675A1

公开(公告)日：2024-07-18

申请号：US18289647

申请日：2022-05-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel N. Miller

IPC: H02P5/56

CPC classification number: H02P5/56

Abstract: A system includes a first motor, a second motor, and a third motor, each respective motor comprising three phases. The system further includes a voltage source inverter circuit comprising multiple respective inverter legs. Each respective inverter leg coupled to drive at least one phase of at least one of the respective motors, with a first shared inverter leg coupled to drive a third phase of the first motor and drive a first phase of the second motor. A second shared inverter leg is coupled to drive a third phase of the second motor and a first phase of the third motor

公开(公告)号：US20240238049A1

公开(公告)日：2024-07-18

申请号：US18560314

申请日：2022-05-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Serena H. Wong ,  Troy K. Adebar ,  Mimi Trinh Fitterer

IPC: A61B34/20 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/2065

Abstract: Systems for performing a medical procedure and associated methods and devices are disclosed herein. In some embodiments, a system for performing a medical procedure includes an elongate flexible device configured to be introduced into an anatomic cavity of a patient, and a sensor system carried by the elongate flexible device and configured to obtain location data of the anatomic structure. The system can be configured to perform operations comprising: generating a 3D anatomic model based on first location data, the 3D anatomic model including an object within the anatomic cavity, based on second location data of the elongate flexible device when the object is within the image, and providing guidance for deploying an access tool along an access path through a patient's skin to the object based, at least in part, on the 3D anatomic model.

公开(公告)号：US20240232222A1

公开(公告)日：2024-07-11

申请号：US18612703

申请日：2024-03-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian D. Hoffman ,  Joshua Radel

IPC: G06F16/27 ,  A61B34/00 ,  A61B34/37 ,  G06F9/54 ,  G06F16/23

CPC classification number: G06F16/27 ,  A61B34/00 ,  A61B34/37 ,  G06F9/542 ,  G06F16/2365 ,  G06F16/2379 ,  G06F16/273

Abstract: A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.

公开(公告)号：US12033325B2

公开(公告)日：2024-07-09

申请号：US18299612

申请日：2023-04-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/12 ,  A61B34/10 ,  A61B34/20 ,  G06T7/00

CPC classification number: G06T7/0012 ,  A61B34/10 ,  A61B34/20 ,  G06T7/12 ,  A61B2034/2065 ,  G06T2207/30101

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting at least one of a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The weighting that at least one of the plurality of volumetric units includes applying a weight based on a foreground structure classification. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US12029513B2

公开(公告)日：2024-07-09

申请号：US17379379

申请日：2021-07-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/37 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  A61B90/361 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US12029473B2

公开(公告)日：2024-07-09

申请号：US16427427

申请日：2019-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael Steven Whitlock ,  William A. Burbank ,  Scott Eugene Manzo

IPC: A61B18/14 ,  A61B17/29 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B18/1447 ,  A61B2017/2936 ,  A61B2017/2946 ,  A61B2018/0063 ,  A61B2018/1455 ,  A61B2034/302

Abstract: A surgical instrument having a jaw lock includes first jaw and second jaws that are moveable from an open position to a closed position. At least one of the jaws includes a jaw slot having a jaw closing portion and a jaw locking portion. A pin positioned within the jaw slot is advanced by a blade. The blade includes a cutting edge and a notch defining a first edge configured to advance the pin to move the jaws to, and secure the jaws in, the closed position.

公开(公告)号：US12023803B2

公开(公告)日：2024-07-02

申请号：US17279753

申请日：2019-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti

IPC: G06F17/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/06 ,  G05B19/4155 ,  A61B34/30

CPC classification number: B25J9/065 ,  A61B34/35 ,  A61B34/37 ,  G05B19/4155 ,  A61B2034/301 ,  G05B2219/45117

Abstract: Systems and methods for controlling an elongate device are provided herein. In some embodiments, a robotic system may comprise a manipulator assembly configured to drive an elongate device and a control device configured to receive user input commanding the elongate device. The robotic system may also comprise a control system communicatively coupled to the manipulator assembly and the control device. The control system may be configured to monitor movement of the elongate device during a plurality of intervals, monitor user input received by the control device during the plurality of intervals, and adjust a property of the elongate device based on at least one of the monitored movement or the monitored user input.

公开(公告)号：US20240207000A1

公开(公告)日：2024-06-27

申请号：US18599768

申请日：2024-03-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  H04W12/50

CPC classification number: A61B34/37 ,  A61B34/20 ,  A61B34/74 ,  A61B34/76 ,  A61B90/06 ,  A61B90/37 ,  H04W12/50 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2090/065

Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.

公开(公告)号：US12016644B2

公开(公告)日：2024-06-25

申请号：US18130402

申请日：2023-04-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey Roh ,  Justin Esterberg

IPC: A61B34/20 ,  G06N3/08 ,  G16H40/60 ,  A61B90/00 ,  G06N20/00

CPC classification number: A61B34/20 ,  G06N3/08 ,  G16H40/60 ,  A61B2034/2074 ,  A61B90/361 ,  G06N20/00

Abstract: This invention is a system and method for utilizing artificial intelligence to operate a surgical robot (e.g., to perform a laminectomy), including a surgical robot, an artificial intelligence guidance system, an image recognition system, an image recognition database, and a database of past procedures with sensor data, electronic medical records, and imaging data. The image recognition system may identify the tissue type present in the patient and if it is the desired tissue type, the AI guidance system may remove a layer of that tissue with the end effector on the surgical robot, and have the surgeon define the tissue type if the image recognition system identified the tissue as anything other than the desired tissue type.