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.

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

IPC: H04S7/00 ,  A61B34/30 ,  A61B34/35 ,  G16H40/63

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.

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

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B90/57

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/75 ,  A61B34/76 ,  A61B90/57

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.

公开(公告)号：US11918306B2

公开(公告)日：2024-03-05

申请号：US16481196

申请日：2018-02-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian

IPC: A61B34/00 ,  A61B34/35 ,  A61B90/00 ,  G06T11/60

CPC classification number: A61B34/25 ,  A61B90/37 ,  G06T11/60 ,  A61B34/35 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/378 ,  G06T2210/41

Abstract: The technology described in this document can be embodied in a method of displaying images of portions of a human body on a display device. The method includes receiving a representation of a plurality of images that includes images of at least two different modalities, and location information corresponding to at least a subset of the plurality of images. A first image of a first modality is displayed on the display device in accordance with the corresponding location information. A second image of a second modality is overlaid on the first image in accordance with corresponding location information. At least a third image is overlaid on the first image in accordance with corresponding location information, the third image being of the second modality, and the second and third images being displayed concurrently for at least a period of time.

公开(公告)号：US20240024051A1

公开(公告)日：2024-01-25

申请号：US18351424

申请日：2023-07-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brent Tokarchuk ,  Mahdi Azizian ,  Joey Chau ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  Ian E. McDowall ,  William C. Nowlin ,  John D. Seaman, II ,  Jonathan M. Sorger

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  G16H50/50 ,  B25J9/16 ,  G16H20/40 ,  G16H40/67

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/76 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37 ,  G16H50/50 ,  B25J9/1689 ,  G16H20/40 ,  G16H40/67 ,  A61B34/77 ,  A61B2090/3612 ,  G05B2219/40137 ,  G05B2219/45118 ,  G05B2219/40161 ,  G05B2219/40167 ,  G05B2219/40143 ,  G05B2219/40169 ,  G05B2219/40144 ,  G05B2219/40191 ,  G05B2219/40168 ,  G05B2219/40134 ,  A61B34/20

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

公开(公告)号：US11737841B2

公开(公告)日：2023-08-29

申请号：US17354567

申请日：2021-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brent Tokarchuk ,  Mahdi Azizian ,  Joey Chau ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  Ian E. McDowall ,  William C. Nowlin ,  John D. Seaman, II ,  Jonathan M. Sorger

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  G16H50/50 ,  B25J9/16 ,  G16H20/40 ,  G16H40/67 ,  A61B34/20

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B90/00 ,  B25J9/1689 ,  G16H20/40 ,  G16H40/67 ,  G16H50/50 ,  A61B34/20 ,  A61B90/361 ,  A61B90/37 ,  A61B2090/3612 ,  G05B2219/40134 ,  G05B2219/40137 ,  G05B2219/40143 ,  G05B2219/40144 ,  G05B2219/40161 ,  G05B2219/40167 ,  G05B2219/40168 ,  G05B2219/40169 ,  G05B2219/40191 ,  G05B2219/45118

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

公开(公告)号：US20230240764A1

公开(公告)日：2023-08-03

申请号：US18010166

申请日：2021-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Azad Shademan ,  Mahdi Azizian ,  Daniel Proksch ,  Pourya Shirazian

IPC: A61B34/00

CPC classification number: A61B34/25 ,  A61B34/74 ,  A61B2034/2046

Abstract: A user input system directs a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system. The user input system further directs the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure.

公开(公告)号：US20230149104A1

公开(公告)日：2023-05-18

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

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/57 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B90/57 ,  A61B34/75 ,  A61B34/76

Abstract: A system and method includes deploying first and second articulated arms of a computer-assisted device so that a first attachment point on the first articulated arm and a second attachment point of the second articulated arm are positioned and oriented relative to each other based on a size and a shape of an arm stabilizer; stabilizing and reducing vibration of the first and second articulated arms by attaching the arm stabilizer to the first and second attachment points; after the stabilizing and reducing vibration of the first and second articulated arms, positioning and orienting a tool with the first articulated arm; and after the positioning and orienting of the tool, operating the tool. In some embodiments, the tool is a medical tool. In some embodiments, the system and method further include positioning and orienting a second tool with the second articulated arm and operating the second tool.

公开(公告)号：US20230139425A1

公开(公告)日：2023-05-04

申请号：US17912791

申请日：2021-03-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Azad Shademan ,  Mahdi Azizian ,  Wen Pei Liu

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

Abstract: A configuration optimization system determines a reachability of a target object in a surgical space by a robotic instrument of a computer-assisted surgical system for a first configuration of the computer-assisted surgical system. The configuration optimization system determines a second configuration of the computer-assisted surgical system that improves the reachability of the target object by the robotic instrument. The configuration optimization system provides, to the computer-assisted surgical system, data indicating the second configuration.

公开(公告)号：US20230126545A1

公开(公告)日：2023-04-27

申请号：US17911290

申请日：2021-03-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wen Pei Liu ,  Mahdi Azizian ,  Azad Shademan

IPC: A61B8/08 ,  A61B34/20

Abstract: An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to obtain one or more operating characteristics of an instrument located in a surgical space; obtain one or more anatomical characteristics associated with the surgical space; and direct a computer-assisted surgical system to automatically perform, based on the based on the one or more operating characteristics of the device and the one or more anatomical characteristics associated with the surgical space, an operation with the instrument located in the surgical space.