公开(公告)号：US20210077210A1

公开(公告)日：2021-03-18

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US20170079722A1

公开(公告)日：2017-03-23

申请号：US15126254

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'GRADY ,  Tao ZHAO ,  Christopher R. BURNS ,  Jason HEMPHILL ,  Brian D. HOFFMAN ,  Simon P. DIMAIO ,  Rodney VANCE

IPC: A61B34/20 ,  A61G13/00 ,  A61B90/98 ,  A61B34/00 ,  A61B34/35 ,  A61B90/96

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

公开(公告)号：US20160206384A1

公开(公告)日：2016-07-21

申请号：US14916854

申请日：2014-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DIMAIO ,  Vincent DUINDAM ,  David Q. LARKIN

IPC: A61B34/20 ,  A61B17/32 ,  A61B5/053 ,  A61B17/17 ,  A61B46/00 ,  A61B10/04

CPC classification number: A61B34/20 ,  A61B5/0538 ,  A61B10/04 ,  A61B17/16 ,  A61B17/1703 ,  A61B17/320016 ,  A61B34/30 ,  A61B46/00 ,  A61B2017/081 ,  A61B2018/00577 ,  A61B2034/2061 ,  A61B2090/0803 ,  A61B2562/0266

Abstract: A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.

Abstract translation: 一种方法包括从第一形状传感器中的第一细长光纤部分接收第一形状数据。 第一细长光纤部分在参考固定装置和耦合到患者解剖结构的第一解剖固定装置之间延伸。 所述方法还包括从所述第一形状数据确定所述第一解剖夹具的姿态并跟踪所述第一解剖固定装置的姿势变化。