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

IPC: B25J9/00 ,  A61B19/00 ,  B25J9/16

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.

公开(公告)号：US20250118036A1

公开(公告)日：2025-04-10

申请号：US18986428

申请日：2024-12-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brandon D. Itkowitz ,  Terrence B. McKenna, III ,  Govinda Payyavula

IPC: G06T19/00

Abstract: A system is configured to perform operations comprising: determining that a viewpoint of a user of a display device is directed within an anchor region of a physical world containing the user while a medical procedure comprising a first operational stage and a second operational stage is performed in the physical world; directing, in response to the determination, the display device to present augmented content in an evident manner, wherein the evident manner comprises anchoring the augmented content relative to the viewpoint, such that the augmented content follows the viewpoint as the user moves the viewpoint within the anchor region; and automatically redefining, in response to the medical procedure transitioning, the anchor region from a first region to a second region, the first region being associated with the first operational stage and the second region being associated with the second operational stage.

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.

公开(公告)号：US12073013B2

公开(公告)日：2024-08-27

申请号：US18039706

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ehsan Noohi Bezanjani ,  Keith Watza ,  Ashwinram Suresh ,  Brandon D. Itkowitz ,  Sean Duffy ,  Sarthak Ghosh

IPC: G06F3/01

CPC classification number: G06F3/011 ,  G06F3/016

Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

公开(公告)号：US12064201B2

公开(公告)日：2024-08-20

申请号：US18320331

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Goran A. Lynch

IPC: G06F17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

Abstract: Techniques for monitoring control points of a computer-assisted device include one or more articulated arms having one or more control points and a control unit coupled to the one or more articulated arms. Each control point of the one or more control points is located based on a kinematic configuration of the one or more articulated arms. The control unit is configured to determine, during a movement of a table that causes a change in the kinematic configuration of the one or more articulated arms, an actual spatial configuration of the one or more control points; determine, based on a comparison of the actual spatial configuration with an expected spatial configuration of the one or more control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

公开(公告)号：US20240216090A1

公开(公告)日：2024-07-04

申请号：US18609994

申请日：2024-03-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1689

Abstract: A system comprises a sensing means for sensing an arrangement of a manipulator assembly. The system further comprises a control means for: determining a motion limit of the manipulator assembly based on the sensed arrangement; and selecting a threshold limit from a plurality of pre-stored threshold limits based on which procedure type is to be performed with the manipulator assembly. The selected threshold limit is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure. The control means are further for: comparing the motion limit to the selected threshold limit to determine whether the selected threshold limit is outside a range of motion bounded by the motion limit; and providing a notification indicative of whether the selected threshold limit is outside the range of motion bounded by the motion limit.

公开(公告)号：US12004833B2

公开(公告)日：2024-06-11

申请号：US18330438

申请日：2023-06-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B1/00 ,  A61B34/00 ,  A61B34/30 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B34/30 ,  B25J9/1607 ,  B25J9/1633 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305

Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having a control unit and an articulated structure. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument; and in response at least to determining that a second joint of the plurality of joints is at a range of motion limit or is about to reach the range of motion limit drive one or more joints of the plurality of joints to partially reduce the error, the one or more joints not comprising the second joint, and provide feedback that not all of the error is reduced.

公开(公告)号：US11998293B2

公开(公告)日：2024-06-04

申请号：US18061357

申请日：2022-12-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Govinda Payyavula ,  Simon P. Dimaio ,  John William Henrie ,  Brandon D. Itkowitz ,  Anthony M. Jarc

IPC: A61B34/35 ,  A61B34/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/35 ,  A61B34/74 ,  B25J9/1689 ,  A61B2017/00216 ,  A61B2034/2055

Abstract: A teleoperational medical system includes a teleoperational control system, a teleoperational manipulator configured for operating a medical instrument in a medical environment, and an operator controller. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether a head portion of an operator of the operator controller is directed toward or away from a display region of a display device based on at least one marker on the operator that is configured to remain substantially fixed relative to the head portion of the operator during a movement of the head portion. The processing unit is further configured to, based on a determination that the head portion is directed away from the display region for at least a threshold time period, enter a standby mode such that movement of the operator controller does not provide corresponding movement to the teleoperational manipulator.

公开(公告)号：US20240138937A1

公开(公告)日：2024-05-02

申请号：US18464666

申请日：2023-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Michael L. Hanuschik ,  Paul W. Mohr

IPC: A61B34/30 ,  A61B90/35

CPC classification number: A61B34/30 ,  A61B90/35 ,  A61B2017/00075 ,  A61B2560/02 ,  A61B2560/0266

Abstract: A medical system includes a mobile cart configured to support one or more medical instruments; an illumination source mounted on the mobile cart, the illumination source configured to direct light in a direction of a path of the mobile cart during movement relative to a ground surface; and a control system operably coupled to the illumination source and the mobile cart. The control system is configured to in response to the illuminating, storing a threshold height in a memory; and automatically control the movement of the cart based on the threshold height.

公开(公告)号：US20240108426A1

公开(公告)日：2024-04-04

申请号：US18531965

申请日：2023-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

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

CPC classification number: A61B34/35 ,  A61B34/70 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/301

Abstract: A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.