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    Systems and methods for control of imaging instrument orientation
    132.
    发明授权
    Systems and methods for control of imaging instrument orientation 有权

    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.

    SYSTEMS AND METHODS FOR CONTROLLING TOOL WITH ARTICULATABLE DISTAL PORTION
    133.
    发明申请
    SYSTEMS AND METHODS FOR CONTROLLING TOOL WITH ARTICULATABLE DISTAL PORTION 审中-公开

    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.

    GAZE-INITIATED COMMUNICATIONS
    134.
    发明申请
    GAZE-INITIATED COMMUNICATIONS 审中-公开

    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.

    SYSTEMS AND METHODS FOR RECENTERING INPUT CONTROLS
    135.
    发明申请
    SYSTEMS AND METHODS FOR RECENTERING INPUT CONTROLS 审中-公开

    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.

    Structural adjustment systems and methods for a teleoperational medical system
    138.
    发明授权
    Structural adjustment systems and methods for a teleoperational medical system 有权

    公开(公告)号：US10182873B2

    公开(公告)日：2019-01-22

    申请号：US15262780

    申请日：2015-03-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

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

    Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

    System and method for maintaining a tool pose
    139.
    发明授权
    System and method for maintaining a tool pose 有权

    公开(公告)号：US10070931B2

    公开(公告)日：2018-09-11

    申请号：US15125533

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: B25J9/06 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

    Abstract: A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.

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