公开(公告)号：US10932873B2

公开(公告)日：2021-03-02

申请号：US16149451

申请日：2018-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: B25J9/06 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B46/10 ,  A61B50/18

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.

公开(公告)号：US10921897B2

公开(公告)日：2021-02-16

申请号：US16249722

申请日：2019-01-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.

公开(公告)号：US20200345438A1

公开(公告)日：2020-11-05

申请号：US16759073

申请日：2018-10-17

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 ,  A61B34/37 ,  A61B34/35 ,  A61B34/10 ,  B25J9/16 ,  B25J17/02

Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.

公开(公告)号：US20200215696A1

公开(公告)日：2020-07-09

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: 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：US10660716B2

公开(公告)日：2020-05-26

申请号：US16558918

申请日：2019-09-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

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

Abstract: A system comprises an operator control system and a plurality of manipulators configured for teleoperation by the operator control system. A first manipulator controls movement of a first medical instrument. A second manipulator controls movement of a second medical. A third manipulator controls movement of an imaging instrument. The system also comprises a processing unit configured to determine an initial position for a first badge associated with a distal end portion of the first medical instrument, determine an initial position for a second badge associated with a distal end portion of the second medical instrument, evaluate a display factor based on the initial positions of the first and second badges, determine a display position for the first badge in an image coordinate space based on the display factor; and, determine a display position for the second badge in the image coordinate space based on the display factor.

公开(公告)号：US20200152190A1

公开(公告)日：2020-05-14

申请号：US16618539

申请日：2018-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Joseph M. Arsanious ,  Christopher R. Burns

IPC: G10L15/22 ,  G16H40/67 ,  G16H20/40 ,  A61B34/35 ,  A61B34/00

Abstract: A teleoperational surgical system comprises an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The teleoperational surgical system also includes a processing unit including one or more processors. The processing unit is configured to recognize a voice communication, evaluate the voice communication in the context of a plurality of surgical environment state variables, determine a response to the voice communication based on at least one of the plurality of surgical environment state variables, and provide a command to implement the response.

公开(公告)号：US10575910B2

公开(公告)日：2020-03-03

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: G01B21/04 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

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.

公开(公告)号：US10398521B2

公开(公告)日：2019-09-03

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: A61B1/00 ,  A61B1/313 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00

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.

公开(公告)号：US20190220097A1

公开(公告)日：2019-07-18

申请号：US16249722

申请日：2019-01-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi He ,  Brandon D. Itkowitz

IPC: G06F3/01 ,  B25J9/16

CPC classification number: G06F3/017 ,  B25J9/1628 ,  B25J9/1664 ,  B25J9/1674 ,  G06F3/013

Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.

公开(公告)号：US10278783B2

公开(公告)日：2019-05-07

申请号：US15706883

申请日：2017-09-18

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 ,  A61B17/00

Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.