公开(公告)号：US12186033B2

公开(公告)日：2025-01-07

申请号：US18364879

申请日：2023-08-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

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

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the table comprising a second rotation about a second axis different from the first axis and causing a fourth motion of the point; receive information of the fourth motion; determine a relationship between the computer-assisted device and the table based on a position of the point, the first rotation, the second motion, the second rotation, and the fourth motion; and control motion of the articulated arm based on the relationship.

公开(公告)号：US12178399B2

公开(公告)日：2024-12-31

申请号：US17599989

申请日：2020-04-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Yiming Mei

IPC: A61B34/20 ,  A61B1/00 ,  G06T7/70 ,  H04N23/695 ,  H04N23/50

Abstract: A system and method of view restoration include a computer-assisted device having an imaging device and a controller coupled to the imaging device. The controller is configured to record kinematic information, imaging information, or both the kinematic information and the imaging information before movement of the imaging device from a first repositionable arm to a second repositionable arm or from a first workspace port to a second workspace port; detect the movement of the imaging device from the first repositionable arm to the second repositionable arm or from the first workspace port to the second workspace port; determine, in response to the detection, a desired position and orientation of the imaging device based on the recorded kinematic information, the recorded imaging information, or both the recorded kinematic information and the recorded imaging information; and move the imaging device based on the desired position and orientation.

公开(公告)号：US12164684B2

公开(公告)日：2024-12-10

申请号：US18340701

申请日：2023-06-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F3/01 ,  G06F3/04817 ,  G06F3/16 ,  G16H80/00

Abstract: A system comprises a display configured to present a graphical user interface including a viewing area and one or more user interface elements. The system also comprises a gaze tracking device configured to detect a change in a gaze of a user while the user views the graphical user interface presented on the display. The system also comprises an audio input device configured to receive audio information. The system also comprises one or more processors configured to process the audio information received at the audio input device in accordance with a first mode to direct the received audio information as audio output to one or more audio output devices; and in response to the gaze tracking device detecting the change in the gaze of the user, process the received audio information in accordance with a second mode, the second mode being distinct from the first mode.

公开(公告)号：US20240325098A1

公开(公告)日：2024-10-03

申请号：US18642545

申请日：2024-04-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  David W. Robinson

IPC: A61B34/35 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B1/00193 ,  A61B2017/00314 ,  A61B2034/2065

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：US20240261047A1

公开(公告)日：2024-08-08

申请号：US18410861

申请日：2024-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2017/00119 ,  A61B2090/0811 ,  A61B2090/371

Abstract: A teleoperational system comprises a teleoperational assembly configured to support an instrument and an imaging device. The instrument has an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument position of the instrument, determine an instrument position error relative to the imaging device, and determine, based on the instrument position and the instrument position error, that at least a portion of the instrument is outside a field of view of the imaging device. The processing unit is further configured to in response to determining that at least a portion of the instrument is outside the field of view of the imaging device and based on a mode of operation of the teleoperational system, cause an out-of-view indication for the instrument to be presented.

公开(公告)号：US12035987B2

公开(公告)日：2024-07-16

申请号：US18309453

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.

公开(公告)号：US12016646B2

公开(公告)日：2024-06-25

申请号：US17438055

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Adrian N. Bedard

IPC: G06F17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  G06F3/01

CPC classification number: A61B34/74 ,  A61B34/20 ,  A61B90/37 ,  G06F3/011 ,  A61B2090/373

Abstract: A computer-assisted surgical system includes a function selection system configured to detect an actuation and a de-actuation of a user input mechanism associated with a user control mechanism for controlling a surgical instrument coupled to a manipulator arm of a computer-assisted surgical system, the user input mechanism configured to facilitate activation and deactivation of a clutch mode of operation in which the user control mechanism is decoupled from controlling the surgical instrument. Based on the detecting of the actuation and the de-actuation of the user input mechanism, the function selection system determines information associated with the user input mechanism and the user control mechanism, compares the information to a set of defined criteria, and performs, when the information satisfies the set of defined criteria, a function associated with a different mode of operation of the computer assisted surgical system.

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：US20230400920A1

公开(公告)日：2023-12-14

申请号：US18340701

申请日：2023-06-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F3/01 ,  G06F3/16 ,  G16H80/00 ,  G06F3/04817

CPC classification number: G06F3/013 ,  G06F3/167 ,  G16H80/00 ,  G06F3/04817

Abstract: A system comprises a display configured to present a graphical user interface including a viewing area and one or more user interface elements. The system also comprises a gaze tracking device configured to detect a change in a gaze of a user while the user views the graphical user interface presented on the display. The system also comprises an audio input device configured to receive audio information. The system also comprises one or more processors configured to process the audio information received at the audio input device in accordance with a first mode to direct the received audio information as audio output to one or more audio output devices; and in response to the gaze tracking device detecting the change in the gaze of the user, process the received audio information in accordance with a second mode, the second mode being distinct from the first mode.

公开(公告)号：US11806102B2

公开(公告)日：2023-11-07

申请号：US17832319

申请日：2022-06-03

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

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.