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公开(公告)号：US10283220B2
公开(公告)日：2019-05-07
申请号：US14912083
申请日：2014-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Simon P. Dimaio
Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
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公开(公告)号：US20160345929A1
公开(公告)日：2016-12-01
申请号：US15116561
申请日：2015-02-04
Inventor： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC classification number: A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G06F19/00 , G16H40/63
Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
Abstract translation: 动态虚拟碰撞对象的系统和方法包括用于医疗设备的控制单元。 控制单元包括一个或多个处理器和将控制单元耦合到医疗设备的接口。 所述控制单元被配置为确定所述医疗设备的第一可移动段的位置，所述第一可移动段所占据的体积被一个或多个第一虚拟碰撞对象（VCO）近似; 基于医疗设备的位置和运动目标调整第一VCO的一个或多个属性; 基于位置和属性确定第一VCO的第一几何形状; 接收与第二设备的第二段相关联的一个或多个第二VCO的第二几何; 确定第一VCO和第二VCO之间的关系; 并根据关系调整医疗器械的运动计划。
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公开(公告)号：US20250151976A1
公开(公告)日：2025-05-15
申请号：US19022736
申请日：2025-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： A. Jonathan McLeod , Mahdi Azizian , Daniel Proksch , Pourya Shirazian
Abstract: An illustrative image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site and uses the subsurface structure identified at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. The system provides a composite image of the surgical site, for display by a display device, based on the registration of the endoscopic imaging data from the endoscopic imaging modality with the additional imaging data from the additional imaging modality, wherein the composite image of the surgical site includes a first depiction of anatomy represented by the endoscopic imaging data integrated with a second depiction of anatomy represented by the additional imaging data. Corresponding systems and methods are also disclosed.
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公开(公告)号：US20250114146A1
公开(公告)日：2025-04-10
申请号：US18986356
申请日：2024-12-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Azad Shademan , Mahdi Azizian , Daniel Proksch , Pourya Shirazian
Abstract: An exemplary system is configured to obtain anatomical characteristic data representative of a characteristic associated with an anatomical surface to be covered by a patch configured to cover a tissue defect, the anatomical surface within an internal space of a patient; and determine, based on the anatomical characteristic data, a placement guidance parameter set, the placement guidance parameter set comprising one or more parameters configured to guide a placement of the patch on the anatomical surface with one or more surgical instruments controlled by a computer-assisted surgical system.
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公开(公告)号：US20250049535A1
公开(公告)日：2025-02-13
申请号：US18932429
申请日：2024-10-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pourya Shirazian , Mahdi Azizian , A. Jonathan McLeod , Daniel Proksch
Abstract: An exemplary system accesses images of a surgical space captured by different imaging modalities and, based on the images, generates a composite image and directs a display device to display the composite image. An exemplary composite image includes a first portion of the composite image that includes a first representation of a first portion of the surgical space, the first representation generated based on the first image, and a second portion of the composite image that includes a second representation of a second portion of the surgical space, the second representation generated based on the second image modified by gradient information of the first image.
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Patent Agency Ranking
公开(公告)号：US20240358472A1
公开(公告)日：2024-10-31
申请号：US18771024
申请日：2024-07-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Oliver J. Wagner
IPC: A61B90/00 , A61B1/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/11 , A61B6/00 , A61B6/02 , A61B6/12 , A61B6/50
CPC classification number: A61B90/39 , A61B1/00193 , A61B5/055 , A61B5/064 , A61B5/1127 , A61B5/4504 , A61B5/6878 , A61B6/022 , A61B6/12 , A61B6/505 , A61B6/487 , A61B2090/3941 , A61B2090/3954 , A61B2090/3966
Abstract: A system and method for anatomical markers includes an anatomical marker. The anatomical marker includes a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material is different from the second material. The first imaging modality is different from the second imaging modality. The first and second imaging modalities obtain their images without using light in a visible spectrum. In some embodiments, the anatomical marker further includes one or more superabsorbent polymers for absorbing and containing the one or more superabsorbent polymers. In some embodiments, the anatomical marker further includes a liquid or gel including the first and second materials, wherein the liquid or gel is configured to be applied to the anatomy of the patient. In some embodiments, the anatomical markers may be used to register a medical tool to anatomy of a patient.
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公开(公告)号：US12131172B2
公开(公告)日：2024-10-29
申请号：US17544654
申请日：2021-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan Sorger , Simon P. Dimaio
CPC classification number: G06F9/455 , G06F11/3476 , G09B23/28 , G16H40/63 , G16H40/67 , G16H50/50 , G16Z99/00 , H04L67/01
Abstract: Techniques for virtually recreating devices include a replay service configured to access a log associated with a first device, extract a first log entry from the log, recreate a first recreated service request for the one or more shared services based on information associated with the first log entry, and send the first recreated service request to a shared service to recreate an event associated with the first log entry; one or more shared services configured to receive and respond to a second service request from a second device coupled to the logging and replay device; and a recreation engine configured to receive the first recreated service request, a response to the first recreated service request, the second service request, and a response to the second service request and create a virtual recreation of the first device.
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98.发明授权公开(公告)号：US12102391B2
公开(公告)日：2024-10-01
申请号：US16465541
申请日：2018-01-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
IPC: A61B34/20 , A61B1/00 , A61B1/04 , A61B34/00 , A61B34/30 , A61B90/00 , G06F3/04883 , G06T7/00 , G06T11/60 , G16H30/40 , G16H50/50
CPC classification number: A61B34/20 , A61B1/0005 , A61B1/043 , A61B34/25 , A61B34/30 , A61B90/36 , G06F3/04883 , G06T7/0012 , G06T11/60 , G16H30/40 , G16H50/50 , A61B2034/2065 , A61B2034/301 , A61B2090/365 , G06T2207/10064 , G06T2207/10068 , G06T2207/10081 , G06T2207/30008 , G06T2207/30096 , G06T2211/428
Abstract: A system and method for registration and coordinated manipulation of augmented reality image components includes registering a model of patient anatomy to a first image of the patient anatomy captured using an imaging device to determine a baseline relationship between the model and the first image, tracking movement of a computer-assisted device used to manipulate the imaging device, updating the baseline relationship based on the tracked movement, and generating a composite image by overlaying the model on a second image of the patient anatomy according to the updated relationship. In some embodiments, the model is semi-transparent. In some embodiments, registering the model to the first image includes adjusting the model relative to the first image based on one or more inputs received from a user and generating a model to image transformation based on the adjustments to the model. The model to image transformation captures the baseline relationship.
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公开(公告)号：US20240276169A1
公开(公告)日：2024-08-15
申请号：US18642625
申请日：2024-04-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
CPC classification number: H04S7/303 , A61B34/35 , G16H40/63 , A61B2034/302 , H04S2400/11 , H04S2400/15
Abstract: System and method for projecting audio signals to an operator of a teleoperational surgical system to convey spatial orientation associated with the audio signals to the operator. Characteristics of the audio signals such as direction and volume may be selected to give the impression that the remote operator is positioned locally next to the patient. Characteristics of the audio signals may also be modified to provide spatial translations between actual locations of audio sources within a physical audio environment and simulations locations of the audio sources with a virtual audio environment.
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公开(公告)号：US11944399B2
公开(公告)日：2024-04-02
申请号：US18152914
申请日：2023-01-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Amy E. Kerdok , Margaret M. Nixon , Douglas S. Langley , Wesley Swanson , Mahdi Azizian
Abstract: A computer-assisted medical device includes a first articulated arm, a second articulated arm, an arm stabilizer, and a control system. The arm stabilizer includes first and second clamps and one or more sensors. The first and second clamps are configured to couple the arm stabilizer to the first and second articulated arms. At least one of a distance or a relative orientation between the first and second clamps is adjustable and the one or more sensors are configured to determine the distance or relative orientation. The control system is configured to implement a following mode in which the control system drives movement of the second articulated arm in response to movements of the first articulated arm and the arm stabilizer.
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