公开(公告)号：US20210212773A1

公开(公告)日：2021-07-15

申请号：US17055073

申请日：2019-05-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Heath Feather ,  Brandon D. Itkowitz ,  Alexandre V. Matveev

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  A61B90/00

Abstract: A console for a medical includes a display, an eye tracking input module, a second input module, and one or more processors coupled to the display, the eye tracking input module, and the second input module. The one or more processors is configured to perform operations including receiving a first user input from the eye tracking input module; determining, based on the first user input, whether a gaze of a user is directed toward an activation region of the display; in response to determining that the gaze of the user is directed toward the activation region, displaying, via the display, a control; receiving a second user input from the second input module; and adjusting the control based on the second user input.

公开(公告)号：US10905500B2

公开(公告)日：2021-02-02

申请号：US16726675

申请日：2019-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

IPC: G05B19/18 ,  A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10

Abstract: A system and method of registration includes detecting a first motion of a table that causes motion of a computer-assisted device, determining a first angular direction of the first motion in a table coordinate frame, determining a second angular direction of the motion of the computer-assisted device in a computer-assisted device coordinate frame, determining a first angular relationship between the table and the computer-assisted device based on the first and second angular directions, and aggregating the first angular relationship in a composite angular relationship. The second angular direction includes a direction of a second motion of a first articulated arm of the computer-assisted device or an aggregation of a plurality of angular directions, wherein, for each angular direction of the plurality of angular directions, that angular direction is of a respective third motion, of a respective articulated arm of a plurality of articulated arms of the computer-assisted device.

公开(公告)号：US10682190B2

公开(公告)日：2020-06-16

申请号：US15522155

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F19/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B18/00 ,  A61B17/00

Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. The one or more articulated arms and corresponding control points are configured to track movement of a surgical table. The control unit monitors a spatial configuration of the one or more control points by determining an expected spatial configuration of the one or more control points during the movement of the surgical table, determining an actual spatial configuration of the one or more control points during the movement of the surgical table, and determining a difference between the expected spatial configuration and the actual spatial configuration.

公开(公告)号：US10675109B2

公开(公告)日：2020-06-09

申请号：US16353932

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B17/00

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.

公开(公告)号：US10548459B2

公开(公告)日：2020-02-04

申请号：US15262932

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Brandon D. Itkowitz ,  Ian E. McDowall ,  Thomas R. Nixon ,  Bruce M. Schena ,  Niels Smaby

IPC: A61B1/00 ,  A61B34/30 ,  A61B90/00 ,  A61B1/04

Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle other than 0° relative to an optical axis of the imaging instrument, and the imaging instrument is a stereoscopic imaging instrument including first and second image sources. The processing unit is further configured for: obtaining first image data from the imaging instrument at a first roll position; obtaining subsequent image data from the imaging instrument at a second roll position; and, responsive to a roll movement of the imaging instrument between the first and second roll positions, transitioning between presentation of the first image data on a user display and presentation of the subsequent image data on the user display. The transition includes changing a position of presentation of the first and second image sources.

公开(公告)号：US20190380798A1

公开(公告)日：2019-12-19

申请号：US16489735

申请日：2018-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  David W. Robinson

IPC: A61B34/35 ,  A61B1/313 ,  A61B1/00

Abstract: A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

公开(公告)号：US20190324533A1

公开(公告)日：2019-10-24

申请号：US16391981

申请日：2019-04-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Joseph M. Arsanious ,  Christopher R. Burns ,  Heath Feather

IPC: G06F3/01 ,  G06F3/0481 ,  G16H80/00 ,  G06F3/16

Abstract: A method and apparatus for gaze-based communications. A gaze of a user is detected being directed at an element in a graphical user interface. The graphical user interface is displayed on a display system located in an environment. A state of the element is changed in response to detecting that the gaze is directed at the element. Audio information is received through an audio input device. An output operation is controlled based on the state of the element such that the audio information received through the audio input device is directed to an information conveyor corresponding to the element.

公开(公告)号：US20190321117A1

公开(公告)日：2019-10-24

申请号：US16503403

申请日：2019-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B1/313 ,  A61B1/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

Abstract: Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.

公开(公告)号：US10433922B2

公开(公告)日：2019-10-08

申请号：US15558466

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10 ,  B25J9/16

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the image's coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the image's coordinate space based on the display factor.

公开(公告)号：US20190213770A1

公开(公告)日：2019-07-11

申请号：US16351444

申请日：2019-03-12

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 ,  B25J9/16 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.