公开(公告)号：US11941734B2

公开(公告)日：2024-03-26

申请号：US17213924

申请日：2021-03-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

CPC classification number: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G06T11/40 ,  A61B34/20 ,  A61B2034/2061 ,  A61B34/25 ,  A61B90/361 ,  A61B2090/371 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  Y02P90/02

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

公开(公告)号：US11897127B2

公开(公告)日：2024-02-13

申请号：US17287430

申请日：2019-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC classification number: B25J9/02 ,  B25J9/0084 ,  B25J9/1697 ,  B25J15/0071

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US20230218356A1

公开(公告)日：2023-07-13

申请号：US18153193

申请日：2023-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Simon P. DiMaio

IPC: A61B34/20 ,  A61B1/00

CPC classification number: A61B34/20 ,  A61B1/00009 ,  A61B2034/2051

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

公开(公告)号：US11639000B2

公开(公告)日：2023-05-02

申请号：US17589672

申请日：2022-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US11583349B2

公开(公告)日：2023-02-21

申请号：US16626001

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Simon P. DiMaio

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/30 ,  A61B90/00 ,  A61B1/00

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

公开(公告)号：US11559357B2

公开(公告)日：2023-01-24

申请号：US16623260

申请日：2018-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Simon P. DiMaio ,  Gary S. Guthart

IPC: A61B34/20 ,  A61B34/10 ,  G01N33/48 ,  A61B34/30

Abstract: The systems and methods of the present disclosure are used for guiding a medical instrument towards a target, the method positioning a medical instrument at a first location within a patient anatomy, wherein the medical instrument comprises at least one sensor, determining a first biomarker measurement using the at least one sensor, determining a second biomarker measurement using the at least one sensor, comparing the first biomarker measurement with the second biomarker measurement to determine a proximity to the target to provide a first comparison, and providing guidance for moving the medical instrument based on results of the first comparison.

公开(公告)号：US20220415492A1

公开(公告)日：2022-12-29

申请号：US17780943

申请日：2020-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Govinda Payyavula ,  Simon P. DiMaio

IPC: G16H40/40 ,  G06Q30/00

Abstract: A coordination system for coordinating remote assistance of a medical system involves a support agent executed by a computer processor. The support agent is configured to receive a first support request submitted by a user of the medical system, and identify a support person to respond to the first support request from a multitude of support persons by applying a support person identification logic to a system-internal context. The system-internal context is obtained from a system awareness engine configured to detect information about the medical system. The support agent is further configured to facilitate contact of the support person.

公开(公告)号：US11534252B2

公开(公告)日：2022-12-27

申请号：US16763556

申请日：2018-11-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DiMaio ,  Gerard J. Labonville, II ,  Kollin M. Tierling

IPC: G16H30/00 ,  A61B34/35 ,  A61B34/37 ,  G16H40/67 ,  G16H30/40 ,  A61B1/00 ,  G05B19/4155 ,  H04N5/225 ,  A61B34/00 ,  A61B90/00 ,  A61B17/02 ,  A61B17/068 ,  A61B17/128 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/00

Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

公开(公告)号：US20220241038A1

公开(公告)日：2022-08-04

申请号：US17610348

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B34/32 ,  A61B50/13 ,  A61B34/00 ,  A61B34/37 ,  G05D1/00 ,  B25J5/00 ,  B25J9/00

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.

公开(公告)号：US11351005B2

公开(公告)日：2022-06-07

申请号：US16757746

申请日：2018-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/01 ,  G06T19/00 ,  A61B34/10 ,  A61B90/50 ,  A61B1/00 ,  A61B17/02 ,  A61B17/00

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system, and the virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The method further comprises displaying an image of a body part of a user. The body part is used to interact with the virtual control element. The method further comprises receiving a gesture of the body part of the user in a predetermined motion, via a gesture based input device registering movement of the body part of the user, while the body part interacts with the virtual control element. The method further comprises adjusting a setting of the component of the surgical system based on the received gesture.