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    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE
    13.
    发明申请
    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE 有权

    公开(公告)号：US20210212780A1

    公开(公告)日：2021-07-15

    申请号：US17217874

    申请日：2021-03-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

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

    Abstract: Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.

    SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION
    15.
    发明申请
    SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION 审中-公开

    公开(公告)号：US20180344417A1

    公开(公告)日：2018-12-06

    申请号：US16101328

    申请日：2018-08-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran Lynch

    IPC: A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B34/20 ,  A61B17/00

    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted medical device include a device with an articulated structure including a plurality of joints and a control unit. The articulated structure is configured to support a tool distal to the joints. The control unit is configured to determine an initial position and orientation of the tool prior to movement of a first joint, determine, while the first joint is moving, a current position and orientation of the tool, determine a difference between the current and the initial position and orientation, and drive at least a second joint based on the difference to maintain a position and orientation of the tool at the initial position and orientation. In some embodiments, the position and orientation of the tool are maintained relative to a reference coordinate frame based on a cause of the moving of the first joint.

    SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS
    17.
    发明申请
    SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS 审中-公开
    用于重建成像装置和输入控制的系统和方法

    公开(公告)号：US20170000574A1

    公开(公告)日：2017-01-05

    申请号：US15125679

    申请日：2015-03-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR ,  Arjang M. HOURTASH

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

    CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/2057 ,  A61B2034/301

    Abstract: A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

    Abstract translation: 重构成像设备和输入控制的系统和方法包括具有一个或多个终端执行器的医疗设备，成像设备，用于远程操作所述一个或多个终端执行器的一个或多个输入控制器，以及包括一个或多个处理器耦合的控制单元 到最终效果器，成像装置和输入控件。 所述控制单元响应于重新要求暂停所述输入控制器对所述末端执行器的远程操作控制，确定所述成像设备的观察重新移动，使得所述末端执行器被包含在所述成像设备的视图空间内，确定一个或多个 输入控制重新移动以提供每个输入控制和相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件来恢复末端执行器的远程操作控制。

    TECHNIQUES FOR CONTROLLING AN IMAGING DEVICE
    18.
    发明申请
    TECHNIQUES FOR CONTROLLING AN IMAGING DEVICE 有权

    公开(公告)号：US20250082184A1

    公开(公告)日：2025-03-13

    申请号：US18953511

    申请日：2024-11-20

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. ITKOWITZ ,  Yiming MEI

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

    Abstract: Techniques for controlling an imaging device include a first repositionable arm comprising a plurality of actuators configured to cause movement of the first repositionable arm and a plurality of joints; and a controller comprising one or more hardware processors. The controller is configured to determine whether an imaging device supported by the first repositionable arm comprises an articulable joint coupling an imaging apparatus to a shaft of the imaging device; in response to a determination that the imaging device comprises the articulable joint: command the plurality of actuators to move the plurality of joints and the articulable joint to position and orient a field of view of the imaging apparatus; and in response to a determination that the imaging device does not comprises the articulable joint: command the plurality of actuators to move the plurality of joints to position and orient the field of view of the imaging apparatus.

    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION
    20.
    发明公开
    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION 审中-公开

    公开(公告)号：US20240315786A1

    公开(公告)日：2024-09-26

    申请号：US18732286

    申请日：2024-06-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Nitish SWARUP ,  Kamyar ZIAEI

    IPC: A61B34/30 ,  A61G13/02

    CPC classification number: A61B34/30 ,  A61G13/02

    Abstract: A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

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