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101.发明申请公开(公告)号：US20190209253A1
公开(公告)日：2019-07-11
申请号：US16353932
申请日：2019-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.
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公开(公告)号：US20190142533A1
公开(公告)日：2019-05-16
申请号：US16242750
申请日：2019-01-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
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公开(公告)号：US10226306B2
公开(公告)日：2019-03-12
申请号：US15522169
申请日：2015-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul G. Griffiths , Jason Hemphill , Goran A. Lynch , Daniel N. Miller , Patrick O'Grady , Nitish Swarup , Kamyar Ziaei
Abstract: A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.
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公开(公告)号：US10137575B2
公开(公告)日：2018-11-27
申请号：US15629533
申请日：2017-06-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC: A61B17/00 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/00 , A61B34/30 , A61B34/37 , G06F19/00 , A61B34/20
Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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公开(公告)号：US09901402B2
公开(公告)日：2018-02-27
申请号：US14629685
申请日：2015-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC: A61B19/00 , A61B17/00 , B25J13/08 , G06F3/01 , G05B15/02 , A61B34/30 , A61B34/37 , A61B34/35 , A61B34/00 , B25J9/16 , A61B34/10
CPC classification number: A61B34/30 , A61B17/00234 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2017/00207 , A61B2034/102 , B25J9/1689 , B25J13/084 , G05B15/02 , G05B2219/36418 , G06F3/014
Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
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Patent Agency Ranking
公开(公告)号：US20170172674A1
公开(公告)日：2017-06-22
申请号：US15125030
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael Hanuschik , Julie L. Berry , Joseph Arsanious , Paul W. Mohr , Brandon D. Itkowitz , Paul G. Griffiths
CPC classification number: A61B34/35 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B46/10 , A61B50/10 , A61B50/13 , A61B90/13 , A61B2017/00292 , A61B2034/301 , A61B2050/105 , A61B2050/185
Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.
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107.发明申请公开(公告)号：US20170079731A1
公开(公告)日：2017-03-23
申请号：US15126536
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul G. Griffiths , Paul W. Mohr , Brandon D. Itkowitz
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B2090/035 , A61B2090/508 , B25J9/02 , B25J9/1694 , Y10S901/01 , Y10S901/02 , Y10S901/46
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In an other aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.
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公开(公告)号：US09503713B2
公开(公告)日：2016-11-22
申请号：US13662653
申请日：2012-10-29
Inventor： Wenyi Zhao , Brandon D. Itkowitz , George Mylonas , Gung-Zhong Yang
CPC classification number: H04N13/383 , A61B3/0058 , A61B3/113 , G06K9/00604
Abstract: Stereo gaze tracking estimates a 3-D gaze point by projecting determined right and left eye gaze points on left and right stereo images. The determined right and left eye gaze points are based on one or more tracked eye gaze points, estimates for non-tracked eye gaze points based upon the tracked gaze points and image matching in the left and right stereo images, and confidence scores indicative of the reliability of the tracked gaze points and/or the image matching.
Abstract translation: 立体声凝视跟踪通过在左右立体图像上投影确定的左右眼凝视点来估计3D视线点。 所确定的右眼和左眼凝视点基于一个或多个跟踪眼睛凝视点，基于跟踪的注视点和左和右立体图像中的图像匹配的非跟踪眼睛凝视点的估计，以及表示 跟踪目标点的可靠性和/或图像匹配。
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109.发明授权公开(公告)号：US09265584B2
公开(公告)日：2016-02-23
申请号：US14534526
申请日：2014-11-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Günter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
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110.发明授权公开(公告)号：US12251184B2
公开(公告)日：2025-03-18
申请号：US17512095
申请日：2021-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Paul W. Mohr
IPC: B25J9/16 , A61B17/29 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/94 , B25J13/06 , B25J19/02
Abstract: A method comprises obtaining, for one or more medical instruments coupled to a teleoperational medical system, one or more corresponding medical instrument positions relative to a field of view of at least one imaging instrument coupled to the teleoperation medical system. The method also comprises initiating, for a selected medical instrument of the one or more medical instruments, generation of a corresponding indicator to a user. The corresponding indicator may be based on a position of the selected medical instrument relative to the field of view.
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