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.

公开(公告)号：US11707336B2

公开(公告)日：2023-07-25

申请号：US16711348

申请日：2019-12-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. Dimaio ,  Paul E. Lilagan ,  Tao Zhao

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/35 ,  A61B34/00 ,  A61B90/98 ,  G05B15/02 ,  A61B34/30 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207 ,  A61B2017/00221 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/741 ,  A61B2090/397 ,  A61B2090/3937 ,  A61B2090/3945 ,  Y10S901/02 ,  Y10S901/46

Abstract: A method and system for hand tracking in a robotic system includes a hand tracking system and a controller coupled to the hand tracking system. The controller is configured to receive, from the hand tracking system, a plurality of locations of a hand; determine if the hand is in a first hand pose based on the plurality of locations; in response to determining that the hand is in the first hand pose, and switch the robotic system to a hand trajectory detection mode. While in the hand trajectory detection mode, the control unit is configured to detect, based on hand tracking information from the hand tracking system, that the hand has performed a first hand trajectory of a plurality of known hand trajectories; and in response to detecting the first hand trajectory, change a mode of operation of the robotic system.

公开(公告)号：US20230172679A1

公开(公告)日：2023-06-08

申请号：US18162220

申请日：2023-01-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert G. Stricko, III ,  Brandon D. Itkowitz ,  Amy E. Kerdok ,  Brett M. Page ,  Jason A. Pile

IPC: A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B34/37 ,  B25J9/16 ,  B25J17/02

CPC classification number: A61B34/70 ,  A61B34/10 ,  A61B34/35 ,  A61B34/37 ,  B25J9/1666 ,  B25J9/1689 ,  B25J17/0283 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/301

Abstract: A method may comprise receiving a model of a patient, identifying a kinematic measure for a teleoperated system, and receiving a human factors constraint for use of the teleoperated system. The method may also comprise establishing a set of port placement locations for the teleoperated system on the model based on the kinematic measure and the human factors constraint.

公开(公告)号：US11648072B2

公开(公告)日：2023-05-16

申请号：US17065483

申请日：2020-10-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Hsien-Hsin Liao ,  Brandon D. Itkowitz ,  Julie L. Berry ,  Pushkar Hingwe

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/70 ,  A61B2090/064 ,  A61B2090/066

Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.

公开(公告)号：US11639000B2

公开(公告)日：2023-05-02

申请号：US17589672

申请日：2022-01-31

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: 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：US20230110890A1

公开(公告)日：2023-04-13

申请号：US18061357

申请日：2022-12-02

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：US11351005B2

公开(公告)日：2022-06-07

申请号：US16757746

申请日：2018-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/01 ,  G06T19/00 ,  A61B34/10 ,  A61B90/50 ,  A61B1/00 ,  A61B17/02 ,  A61B17/00

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system, and the virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The method further comprises displaying an image of a body part of a user. The body part is used to interact with the virtual control element. The method further comprises receiving a gesture of the body part of the user in a predetermined motion, via a gesture based input device registering movement of the body part of the user, while the body part interacts with the virtual control element. The method further comprises adjusting a setting of the component of the surgical system based on the received gesture.