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公开(公告)号：US20220292672A1
公开(公告)日：2022-09-15
申请号：US17639676
申请日：2020-10-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pourya Shirazian , Mahdi Azizian , Daniel Proksch , Azad Shademan
Abstract: An exemplary system is configured to instruct a display device to render a virtual medical element representative of a physical medical element over a target region within an image of an internal space of a patient, the target region depicting an anatomical surface to be covered by the physical medical element; receive, while the virtual medical element is rendered over the target region, user input that sets at least one of a pose of the virtual medical element within the image or a size of the virtual medical element; and determine, based on the user input and on depth data representative of a depth map for the internal space, physical dimensions for the physical medical element.
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公开(公告)号：US20220175470A1
公开(公告)日：2022-06-09
申请号：US17677253
申请日：2022-02-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian
Abstract: The technology described in this document can be embodied in a method that includes operating a surgical system to perform a surgical process, the surgical system including a display device, and receiving, at one or more processing devices, data from multiple data sources. The method also includes determining a current phase of the surgical process, and displaying, on the display device, visual representations corresponding to the data from a first set of the multiple data sources in a first arrangement within a display region of the display device. At least one of the first set of the multiple data sources and the first arrangement is associated with the current phase of the surgical process.
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公开(公告)号：US20210378770A1
公开(公告)日：2021-12-09
申请号：US17410725
申请日：2021-08-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian , Jonathan M. Sorger
Abstract: A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.
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114.发明授权公开(公告)号：US11120907B2
公开(公告)日：2021-09-14
申请号：US16356883
申请日：2019-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Johnathan M. Sorger , Simon P. Dimaio
Abstract: A system and method of coordinated motion includes a device with one or more movable elements and one or more processors. The device is configured to discover a second device, determine a desired type of coordinated motion based on the discovery of the second device, request a movement token of a first type from a token service, the first type being selected based on the desired type of coordinated motion, receive the movement token from the token service, receive configuration data, kinematic data, or planned motion data for the second device, plan a first motion for a movable element of the movable elements based on the first type of the movement token and the configuration data, the kinematic data, or the planned motion data for the second device, and execute the first motion while the device holds the movement token. The device and the second device are different heterogeneous devices.
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公开(公告)号：US11058501B2
公开(公告)日：2021-07-13
申请号：US15735164
申请日：2016-06-09
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 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67 , A61B34/20 , A61B34/37
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.
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Patent Agency Ranking
公开(公告)号：US10849591B2
公开(公告)日：2020-12-01
申请号：US15956463
申请日：2018-04-18
Inventor： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
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.
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公开(公告)号：US20200015910A1
公开(公告)日：2020-01-16
申请号：US16470050
申请日：2017-12-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Oliver J. Wagner , Andrew C. Waterbury
Abstract: A medical imaging system comprises a teleoperated assembly including a medical instrument. The medical imaging system also comprises a first imaging instrument for generating a first image of a field of view of the first imaging instrument and a second imaging instrument for generating a second image. A tracking fixture is engagable along at least a portion of the second imaging instrument. The medical instrument is attachable to the tracking fixture within the field of view of the first imaging instrument.
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公开(公告)号：US20190387974A1
公开(公告)日：2019-12-26
申请号：US16562121
申请日：2019-09-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger
IPC: A61B5/00
Abstract: A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.
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公开(公告)号：US20190214132A1
公开(公告)日：2019-07-11
申请号：US16356883
申请日：2019-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Johnathan M. Sorger , Simon P. Dimaio
Abstract: A system and method of coordinated motion includes a device with one or more movable elements and one or more processors. The device is configured to discover a second device, determine a desired type of coordinated motion based on the discovery of the second device, request a movement token of a first type from a token service, the first type being selected based on the desired type of coordinated motion, receive the movement token from the token service, receive configuration data, kinematic data, or planned motion data for the second device, plan a first motion for a movable element of the movable elements based on the first type of the movement token and the configuration data, the kinematic data, or the planned motion data for the second device, and execute the first motion while the device holds the movement token. The device and the second device are different heterogeneous devices
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公开(公告)号：US20190026133A1
公开(公告)日：2019-01-24
申请号：US16142937
申请日：2018-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan Sorger , Simon P. Dimaio
Abstract: A system and method of aggregating logs for replay includes a processor configured to execute a replay service. The replay service is configured to access a plurality of logs, aggregate the plurality of logs to create a composite log, extract a first log entry from the composite log, recreate a service request based on information associated with the first log entry, and send the service request to a corresponding service to recreate an event associated with the first log entry. In some embodiments, to aggregate the plurality of logs to create the composite log, the replay service is configured to aggregate a first entry from a first log of the plurality of logs with a corresponding related second entry from a second log of the plurality of logs to create a composite entry for the composite log.
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