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11.发明授权公开(公告)号：US10675109B2
公开(公告)日：2020-06-09
申请号：US16353932
申请日：2019-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.
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公开(公告)号：US20190282312A1
公开(公告)日：2019-09-19
申请号：US16349202
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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公开(公告)号：US20190282311A1
公开(公告)日：2019-09-19
申请号：US16349196
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Paul W. Mohr
Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
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公开(公告)号：US10376321B2
公开(公告)日：2019-08-13
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 , A61B17/16 , A61B34/30 , A61B90/00 , A61B17/08 , A61B18/00
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.
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公开(公告)号：US20190213770A1
公开(公告)日：2019-07-11
申请号：US16351444
申请日：2019-03-12
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
CPC classification number: G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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Patent Agency Ranking
公开(公告)号：US20190143513A1
公开(公告)日：2019-05-16
申请号：US16185687
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
IPC: B25J9/16
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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17.发明申请公开(公告)号：US20180250828A1
公开(公告)日：2018-09-06
申请号：US15972643
申请日：2018-05-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
IPC: B25J9/16
CPC classification number: B25J9/1697
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.
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公开(公告)号：US20180225855A1
公开(公告)日：2018-08-09
申请号：US15946408
申请日：2018-04-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC: G06T11/60 , B25J9/16 , A61B34/30 , A61B34/37 , A61B90/00 , G05B19/42 , G06T11/40 , A61B34/00 , A61B34/20
CPC classification number: G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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公开(公告)号：US10008017B2
公开(公告)日：2018-06-26
申请号：US13768047
申请日：2013-02-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
IPC: G06T11/60 , G06T11/40 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
CPC classification number: G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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公开(公告)号：US20180082114A1
公开(公告)日：2018-03-22
申请号：US15825358
申请日：2017-11-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
CPC classification number: G06K9/00375 , G06T19/006 , G06T2207/20112
Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
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