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公开(公告)号：US20190143506A1
公开(公告)日：2019-05-16
申请号：US16185867
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. 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 a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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公开(公告)号：US10282881B2
公开(公告)日：2019-05-07
申请号：US15946408
申请日：2018-04-05
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: G06T11/60 , B25J9/16 , A61B34/30 , A61B34/37 , A61B90/00 , G05B19/42 , G06T11/40 , A61B34/00 , A61B34/20
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.
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133.发明申请公开(公告)号：US20190098282A1
公开(公告)日：2019-03-28
申请号：US16202211
申请日：2018-11-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Catherine J. Mohr , Simon P. DiMaio
IPC: H04N13/128
Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
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公开(公告)号：US20190047154A1
公开(公告)日：2019-02-14
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
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.
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135.发明授权公开(公告)号：US09987751B2
公开(公告)日：2018-06-05
申请号：US15178858
申请日：2016-06-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
CPC classification number: B25J9/1697
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.
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Patent Agency Ranking
公开(公告)号：US20170301068A1
公开(公告)日：2017-10-19
申请号：US15595656
申请日：2017-05-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Simon P. DiMaio , David D. Scott
CPC classification number: G06T5/003 , G06T5/10 , G06T2207/10024 , G06T2207/20016 , G06T2207/20212
Abstract: Provided are a system and method for image sharpening is provided that involves capturing an image, and then decomposing the image into a plurality of image-representation components, such as RGB components for example. Each image-representation component is transformed to obtain an unsharpened multi-resolution representation for each image-representation component. A multi-resolution representation includes a plurality of transformation level representations. Sharpness information is transported from an unsharpened transformation level representation of a first one of the image-representation components to a transformation level representation of an unsharpened multi-resolution representation of a second one of the image-representation components to create a sharpened multi-resolution representation of the second one of the image-representation components. The sharpened multi-resolution representation of the second one of the image-representation components is then transformed to obtain a sharpened image. The improved and sharpened image may then be displayed.
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公开(公告)号：US20170282372A1
公开(公告)日：2017-10-05
申请号：US15629533
申请日：2017-06-21
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
CPC classification number: B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , 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.
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138.发明申请GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS 审中-公开用于确定工作站尺寸的几何适当的工具选择辅助公开(公告)号：US20160279801A1
公开(公告)日：2016-09-29
申请号：US15178858
申请日：2016-06-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
IPC: B25J9/16
CPC classification number: B25J9/1697
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.
Abstract translation: 机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。 处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。
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139.发明授权Geometrically appropriate tool selection assistance for determined work site dimensions 有权确定工作现场尺寸的几何适当的工具选择帮助公开(公告)号：US09375844B2
公开(公告)日：2016-06-28
申请号：US14210881
申请日：2014-03-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
CPC classification number: B25J9/1697
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.
Abstract translation: 机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。 处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。
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140.发明申请公开(公告)号：US20160157949A1
公开(公告)日：2016-06-09
申请号：US14996073
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
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