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.

公开(公告)号：US20220117662A1

公开(公告)日：2022-04-21

申请号：US17426603

申请日：2020-01-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marisa C. Babb ,  Craig Gotsill ,  Sophia R. Hannaford ,  Brandon D. Itkowitz ,  Jason S. LaFrenais ,  Daniel W. Nissenbaum

IPC: A61B34/10 ,  A61B34/00 ,  A61B90/00

Abstract: An exemplary system (100) determines an insertion trajectory that a surgical instrument is predicted to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by the imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.

公开(公告)号：US11260535B2

公开(公告)日：2022-03-01

申请号：US16827227

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc

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

IPC: G06K9/00 ,  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：US20220015851A1

公开(公告)日：2022-01-20

申请号：US17438055

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Adrian N. Bedard

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

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：US20210153960A1

公开(公告)日：2021-05-27

申请号：US17167237

申请日：2021-02-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Thomas R. Nixon

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B46/10

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. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.