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.

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

IPC: G16H40/63 ,  G05B15/02

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

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

IPC: G06F9/455 ,  G16H40/63 ,  G16H50/50 ,  G06F19/00

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.

公开(公告)号：US20180338804A1

公开(公告)日：2018-11-29

申请号：US16053049

申请日：2018-08-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

IPC: A61B34/30 ,  A61B6/10 ,  A61B34/20 ,  A61B6/00 ,  B25J9/16 ,  A61B90/00

Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

公开(公告)号：US10064682B2

公开(公告)日：2018-09-04

申请号：US14862692

申请日：2015-09-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

IPC: A61B5/00 ,  A61B19/00 ,  B25J9/16 ,  A61B6/00 ,  A61B34/20 ,  A61B34/30 ,  A61B6/10 ,  A61B90/00

Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

公开(公告)号：US09993222B2

公开(公告)日：2018-06-12

申请号：US15116561

申请日：2015-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  SIEMENS AG HEALTHCARE SECTOR

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Holger Kunze ,  Lutz Blohm

IPC: A61B34/20 ,  A61B6/10 ,  A61B6/00 ,  G06F19/00

CPC classification number: A61B6/547 ,  A61B6/102 ,  A61B6/4405 ,  A61B6/4441 ,  A61B34/20 ,  B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G06F19/00 ,  G16H40/63

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.

公开(公告)号：US20180153636A1

公开(公告)日：2018-06-07

申请号：US15575603

申请日：2015-09-10

Applicant: SIEMENS HEALTHCARE GMBH ,  INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Lutz Blohm ,  Holger Kunze ,  Christine Niebler ,  Jonathan Sorger

IPC: A61B90/00 ,  A61B34/30

CPC classification number: A61B90/37 ,  A61B34/25 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/368 ,  A61B2090/3762

Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

公开(公告)号：US20180021102A1

公开(公告)日：2018-01-25

申请号：US15549032

申请日：2016-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Oliver Wagner

IPC: A61B90/00 ,  A61B5/055 ,  A61B5/06 ,  A61B6/12 ,  A61B6/00 ,  A61B1/00 ,  A61B6/02 ,  A61B5/11 ,  A61B5/00

CPC classification number: A61B90/39 ,  A61B1/00193 ,  A61B5/055 ,  A61B5/064 ,  A61B5/1127 ,  A61B5/4504 ,  A61B5/6878 ,  A61B6/022 ,  A61B6/12 ,  A61B6/487 ,  A61B6/505 ,  A61B2090/3941 ,  A61B2090/3954 ,  A61B2090/3966

Abstract: A system and method for anatomical markers includes an anatomical marker. The anatomical marker includes a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material is different from the second material. The first imaging modality is different from the second imaging modality. The first and second imaging modalities obtain their images without using light in a visible spectrum. In some embodiments, the anatomical marker further includes one or more superabsorbent polymers for absorbing and containing the one or more superabsorbent polymers. In some embodiments, the anatomical marker further includes a liquid or gel including the first and second materials, wherein the liquid or gel is configured to be applied to the anatomy of the patient. In some embodiments, the anatomical markers may be used to register a medical tool to anatomy of a patient.

公开(公告)号：US20170014029A1

公开(公告)日：2017-01-19

申请号：US15122121

申请日：2015-02-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger

IPC: A61B5/00

CPC classification number: A61B5/0071 ,  A61B5/0033 ,  A61B5/7405 ,  A61B5/742 ,  A61B2576/00

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.

Abstract translation: 镜面反射检测和缩小的系统和方法包括包括一个或多个处理器的处理单元和耦合到处理单元的成像单元。 成像单元包括用于提供感兴趣区域的照明的一个或多个第一照明器，用于检测照明反射的一个或多个第一检测器，用于触发感兴趣区域中的一种或多种荧光材料的荧光的一个或多个第二照明器， 以及用于检测荧光材料的荧光的一个或多个第二检测器。 所述处理单元被配置为从所述第一检测器接收第一图像，确定所述第一图像中的高镜面反射的一个或多个区域，掩蔽所述第一图像中的高镜面反射区域，并基于所述第一图像生成合成图像 屏蔽第一个图像和检测到的荧光。 第一个图像包括检测到的反射。

公开(公告)号：US20160203010A1

公开(公告)日：2016-07-14

申请号：US14912079

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Simon P. Dimaio

IPC: G06F9/455

CPC classification number: G06F9/455 ,  G06F19/00 ,  G09B23/28 ,  G16H40/63 ,  G16H50/50 ,  H04L67/42

Abstract: A system and method of logging and replay among heterogeneous devices includes one or more shared services including a replay service, a processor for executing the shared services, and a shared interface for providing access to the shared services. The replay service selects one or more logs for playback, emulates one or more playback devices, each of the playback devices being associated with a respective one of the logs, extracts one or more log entries from each of the logs, recreates one or more recreated service requests for the one or more shared services based on information associated with each of the log entries, and initiates the recreated service requests. In some embodiments, the system and method further include a logging service to create new log entries based on new service requests, associate the new log entries with a corresponding timestamp, and record the new log entries.

Abstract translation: 在异构设备之间记录和重放的系统和方法包括一个或多个共享服务，包括重播服务，用于执行共享服务的处理器，以及用于提供对共享服务的访问的共享接口。 重播服务选择一个或多个用于播放的日志，模拟一个或多个回放设备，每个回放设备与相应的日志相关联，从每个日志中提取一个或多个日志条目，重新创建一个或多个重新创建的 基于与每个日志条目相关联的信息对一个或多个共享服务的服务请求，并且发起重新创建的服务请求。 在一些实施例中，系统和方法还包括记录服务，以基于新的服务请求创建新的日志条目，将新的日志条目与对应的时间戳相关联，并记录新的日志条目。