公开(公告)号：US12133702B2

公开(公告)日：2024-11-05

申请号：US16349196

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  G16H20/40 ,  G16H40/67 ,  A61B17/00 ,  A61B18/00 ,  A61B90/00

Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.

公开(公告)号：US20240338421A1

公开(公告)日：2024-10-10

申请号：US18748918

申请日：2024-06-20

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US20240261047A1

公开(公告)日：2024-08-08

申请号：US18410861

申请日：2024-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2017/00119 ,  A61B2090/0811 ,  A61B2090/371

Abstract: A teleoperational system comprises a teleoperational assembly configured to support an instrument and an imaging device. The instrument has an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument position of the instrument, determine an instrument position error relative to the imaging device, and determine, based on the instrument position and the instrument position error, that at least a portion of the instrument is outside a field of view of the imaging device. The processing unit is further configured to in response to determining that at least a portion of the instrument is outside the field of view of the imaging device and based on a mode of operation of the teleoperational system, cause an out-of-view indication for the instrument to be presented.

公开(公告)号：US20230371783A1

公开(公告)日：2023-11-23

申请号：US18230310

申请日：2023-08-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90

CPC classification number: A61B1/000095 ,  A61B1/00193 ,  A61B1/0638 ,  A61B90/30 ,  A61B1/0655 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/37 ,  G06T7/90 ,  A61B2090/371 ,  A61B34/30

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light. The illuminator includes a plurality of color component illumination sources. The non-white light is light other than white light and is generated by a combination of light output by the plurality of color component illumination sources. The apparatus may also control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light and adjust pixel values of a color channel of the camera in the frame of the scene to decrease noise of the color channel in the frame of the scene.

公开(公告)号：US11806102B2

公开(公告)日：2023-11-07

申请号：US17832319

申请日：2022-06-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

公开(公告)号：US11687556B2

公开(公告)日：2023-06-27

申请号：US16795162

申请日：2020-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian D. Hoffman ,  Joshua Radel

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

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

Abstract: A publishing node comprises one or more processors and a first synchronization database. The first synchronization database comprises a subscriber list of a plurality of subscribers, a plurality of first attributes and a plurality of first flags. The publishing node publishes, to a first subscriber from the plurality of subscribers, one or more of the first attributes having a respective one of the first flags set. The respective one of the first flags associates a respective one of the first attributes with the first subscriber. The publishing node also receives an error message from the first subscriber. In response to receiving the error message, the publishing node sets each of the first flags associated with the first subscriber and republishes each of the first attributes associated with each of the first flags associated with the first subscriber.

公开(公告)号：US20230022933A1

公开(公告)日：2023-01-26

申请号：US17953993

申请日：2022-09-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/00 ,  G06T7/55

Abstract: A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the system may determine a far-range lighting coefficient for each pixel in the image based on a relationship between the corresponding depth data included in the depth map for that respective pixel and a target distance to a virtual light source that is to be simulated to be illuminating the operational scene. Based on the image and these far-range lighting coefficients, the system may generate a processed image depicting the operational scene as being illuminated by the virtual light source and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

公开(公告)号：US11475548B2

公开(公告)日：2022-10-18

申请号：US17294528

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/00 ,  G06T7/55

Abstract: A lighting emulation system accesses an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The lighting emulation system accesses a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the lighting emulation system determines a far-range lighting coefficient for each pixel in the image. Specifically, the far-range lighting coefficient for each respective pixel is determined based on the corresponding depth data included in the depth map for that respective pixel. Based on the image and the far-range lighting coefficient for each pixel in the image, the lighting emulation system generates a processed image depicting the operational scene as illuminated by far-range lighting, and provides the processed image for presentation on a display screen.

公开(公告)号：US20220241039A1

公开(公告)日：2022-08-04

申请号：US17726350

申请日：2022-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37

Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.

公开(公告)号：US11337768B2

公开(公告)日：2022-05-24

申请号：US17061785

申请日：2020-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

IPC: A61B34/35 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00

Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.