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    Systems and Methods for Registration of Multiple Vision Systems
    94.
    发明申请
    Systems and Methods for Registration of Multiple Vision Systems 审中-公开
    多视觉系统注册系统和方法

    公开(公告)号：US20140051986A1

    公开(公告)日：2014-02-20

    申请号：US13964704

    申请日：2013-08-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Prashant Chopra

    IPC: A61B5/06

    CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B5/062 ,  A61B34/20 ,  A61B2034/2065 ,  G06T7/33 ,  G06T2207/10068 ,  G06T2207/30021

    Abstract: A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.

    Abstract translation: 一种方法包括生成解剖区域的模型并从位于解剖区域内的内窥镜图像捕获探针接收真实图像。 该方法还包括识别真实图像中的真实基准区域并且识别解剖区域的模型中的多个虚拟组织结构。 该方法还包括将多个虚拟组织结构中的一个与真实基准区域进行匹配，并从多个虚拟组织结构中匹配的一个虚拟组织结构确定内窥镜图像捕获探针的探测姿势。

    COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS
    95.
    发明申请
    COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS 有权
    针对干预措施的紧急针头操纵器

    公开(公告)号：US20130209208A1

    公开(公告)日：2013-08-15

    申请号：US13767856

    申请日：2013-02-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Bailey ,  Simon P. DiMaio ,  Tao Zhao ,  Lawton N. Verner ,  Alan E. Loh ,  Jonathan Sorger ,  Bruce Michael Schena

    IPC: B25J11/00

    CPC classification number: B25J11/00 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/1425 ,  A61B2034/2059 ,  A61B2090/3954 ,  A61B2090/3983 ,  A61B2090/506 ,  B25J5/02 ,  B25J9/1065

    Abstract: Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

    Abstract translation: 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。

    OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE
    96.
    发明申请
    OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE 有权
    在最小的入组手术程序中获得力量信息

    公开(公告)号：US20130166070A1

    公开(公告)日：2013-06-27

    申请号：US13736720

    申请日：2013-01-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

    IPC: G01L5/22

    CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/40144

    Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

    Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。

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