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    Systems and methods for rendering onscreen identification of instruments in a teleoperational medical system
    171.
    发明授权
    Systems and methods for rendering onscreen identification of instruments in a teleoperational medical system 有权

    公开(公告)号：US10905506B2

    公开(公告)日：2021-02-02

    申请号：US16855144

    申请日：2020-04-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

    IPC: A61B34/35 ,  A61B34/37 ,  A61B90/94 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  B25J9/16

    Abstract: A system comprises a teleoperational assembly including an operator control system and a plurality of manipulators. A first manipulator is configured to control a medical instrument in a surgical environment. A second manipulator is configured to control an imaging instrument. The system further comprises a processing unit configured to: display an image of a field of view of the surgical environment captured by the imaging instrument; determine a position of a distal portion of the medical instrument in an image coordinate space; determine an initial position for a badge associated with the distal portion; determine a badge placement boundary, which is inside the image, for the image by determining a viewable space boundary for the image; and adjust the badge from the initial position to a display position within the badge placement boundary by determining an inset boundary between the badge placement boundary and the viewable space boundary.

    System and method for patient-side instrument control
    172.
    发明授权
    System and method for patient-side instrument control 有权

    公开(公告)号：US10806530B2

    公开(公告)日：2020-10-20

    申请号：US15580629

    申请日：2016-06-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.

    System and method for registering to a surgical table
    175.
    发明授权
    System and method for registering to a surgical table 有权

    公开(公告)号：US10555777B2

    公开(公告)日：2020-02-11

    申请号：US15522180

    申请日：2015-10-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

    IPC: G05B19/18 ,  A61B34/20 ,  A61G13/04 ,  A61B34/32 ,  A61G13/10

    Abstract: A system and method of registering a surgical table and a computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. The articulated arm has a distally mounted instrument configured to be inserted into a patient at a body opening. The control unit is configured to detect a first motion of a surgical table coupled to the control unit via a communications connection. The first motion of the surgical table causes a corresponding second motion of a control point of the articulated arm. The control unit is further configured to determine a first angular direction of the first motion in a surgical table coordinate frame, determine a second angular direction of the second motion in a computer-assisted medical device coordinate frame, and determine a third angular relationship between the surgical table and the computer-assisted medical device based on the first and second angular directions.

    SYSTEMS AND METHODS FOR ENTERING AND EXITING A TELEOPERATIONAL STATE
    176.
    发明申请
    SYSTEMS AND METHODS FOR ENTERING AND EXITING A TELEOPERATIONAL STATE 审中-公开

    公开(公告)号：US20200015918A1

    公开(公告)日：2020-01-16

    申请号：US16489799

    申请日：2018-03-05

    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.

    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure
    180.
    发明申请
    Methods of Controlling Motion of Under-Actuated Joints in a Surgical Set-up Structure 审中-公开

    公开(公告)号：US20180280098A1

    公开(公告)日：2018-10-04

    申请号：US16002509

    申请日：2018-06-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

    IPC: A61B34/35 ,  B25J9/02 ,  A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

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