公开(公告)号：US20220080591A1

公开(公告)日：2022-03-17

申请号：US17493918

申请日：2021-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.

公开(公告)号：US11260535B2

公开(公告)日：2022-03-01

申请号：US16827227

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc

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

IPC: G06K9/00 ,  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：US20220015832A1

公开(公告)日：2022-01-20

申请号：US17468198

申请日：2021-09-07

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

Inventor： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC: A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B1/00 ,  A61B34/30

Abstract: A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

公开(公告)号：US20210343088A1

公开(公告)日：2021-11-04

申请号：US17286782

申请日：2019-10-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Govinda Payyavula ,  Cortney Jansen ,  Huan Lac Phan ,  Simon P. DiMaio

IPC: G06T19/00 ,  A61B34/20 ,  A61B1/05 ,  A61B1/06 ,  A61B1/00 ,  A61B34/30

Abstract: A mixed reality presentation system identifies an operating condition associated with an operation performed on a body while an active imaging device captures imagery of an internal view of the body. The mixed reality presentation system also determines, based on the identified operating condition, that a display device is to toggle a display of a shape overlay that is displayed together with an external view of the body and that is indicative of an extent of a field of view of the active imaging device relative to the body. Based on the determining that the display device is to toggle the display of the shape overlay, the mixed reality presentation system directs the display device to toggle the display of the shape overlay. Corresponding systems and methods are also disclosed.

公开(公告)号：US20210196414A1

公开(公告)日：2021-07-01

申请号：US17198772

申请日：2021-03-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David J. Rosa ,  Gary S. Guthart ,  Simon P. DiMaio

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16

Abstract: A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.

公开(公告)号：US20200297443A1

公开(公告)日：2020-09-24

申请号：US16088413

申请日：2017-03-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David J. Rosa ,  Gary S. Guthart ,  Simon P. DiMaio

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/06 ,  B25J9/00 ,  B25J9/16

Abstract: A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.

公开(公告)号：US10737394B2

公开(公告)日：2020-08-11

申请号：US16161204

申请日：2018-10-16

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: B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  G06F19/00

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.

公开(公告)号：US20200015918A1

公开(公告)日：2020-01-16

申请号：US16489799

申请日：2018-03-05

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

Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

公开(公告)号：US10507066B2

公开(公告)日：2019-12-17

申请号：US13768062

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US20190159847A1

公开(公告)日：2019-05-30

申请号：US16259928

申请日：2019-01-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio

IPC: A61B34/30 ,  A61B90/11

Abstract: A minimally invasive surgical instrument includes a first mechanism including a periphery and an opening in the periphery, a second mechanism including a surface and a helical slot in the surface, a pin extending through the opening of the first mechanism and into the helical slot of the second mechanism, and a surgical device coupled to an end of the first mechanism. A first axial axis of rotation is defined for the first mechanism. A second axial axis of rotation is defined for the second mechanism. The second axial axis of rotation is coincident with the first axial axis of rotation. Rotation of the first mechanism relative to the second mechanism results in motion of the second mechanism along the second axial access of rotation relative to the first mechanism.