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公开(公告)号：US10984567B2
公开(公告)日：2021-04-20
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
IPC: G06T11/60 , B25J9/16 , G06T11/40 , A61B34/37 , A61B34/30 , A61B90/00 , G05B19/42 , A61B34/20 , A61B34/00
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：US20200240861A1
公开(公告)日：2020-07-30
申请号：US16827243
申请日：2020-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Christopher J. Hasser
Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
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公开(公告)号：US10137575B2
公开(公告)日：2018-11-27
申请号：US15629533
申请日：2017-06-21
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: A61B17/00 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/00 , A61B34/30 , A61B34/37 , G06F19/00 , A61B34/20
Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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公开(公告)号：US20180324414A1
公开(公告)日：2018-11-08
申请号：US16034004
申请日：2018-07-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
IPC: H04N13/366 , H04N13/156 , A61B34/37 , A61B90/00 , H04N13/383 , A61B34/30 , A61B1/00 , H04N13/296 , A61B1/04 , A61B17/00
CPC classification number: H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
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公开(公告)号：US20180042680A1
公开(公告)日：2018-02-15
申请号：US15725271
申请日：2017-10-04
Applicant: Intuitive Surgical Operations, Inc. , The Johns Hopkins University c/o Johns Hopkins Technology Transfer
Inventor： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
CPC classification number: A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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Patent Agency Ranking
公开(公告)号：US09730572B2
公开(公告)日：2017-08-15
申请号：US14663854
申请日：2015-03-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christopher J. Hasser , Nitish Swarup , Thomas G. Cooper , S. Christopher Anderson
IPC: A61B1/00 , A61B1/005 , A61B1/05 , A61B1/008 , A61B34/00 , A61B34/37 , A61B34/35 , A61B1/04 , A61B1/018 , A61B17/00 , A61B34/30
CPC classification number: A61B1/0055 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B1/05 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
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公开(公告)号：US20170128041A1
公开(公告)日：2017-05-11
申请号：US15413380
申请日：2017-01-23
Inventor： Christopher J. Hasser , Russell H. Taylor , Joshua Leven , Michael Choti
CPC classification number: A61B34/37 , A61B1/3132 , A61B8/00 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/03 , A61B90/361 , A61B90/37 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US08621939B2
公开(公告)日：2014-01-07
申请号：US13932128
申请日：2013-07-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Christopher J. Hasser
CPC classification number: G01L1/246 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/06 , A61B2017/00477 , A61B2034/305 , A61B2090/064
Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.
Abstract translation: 在一个实施例中，提供一种力传感器装置，其包括具有多个径向肋的管部分和位于所述多个径向肋的每一个上的应变仪，所述管部分的近端可操作地连接到手术的轴 可操作地耦合到机器人手术系统的操纵臂的器械，以及近端耦合到耦合到末端执行器的腕关节的管部分的远端。
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公开(公告)号：US12108998B2
公开(公告)日：2024-10-08
申请号：US18332891
申请日：2023-06-12
Inventor： Christopher J. Hasser , Russell H. Taylor , Joshua Leven , Michael Choti
IPC: A61B34/37 , A61B1/313 , A61B8/00 , A61B8/12 , A61B34/00 , A61B34/30 , A61B90/00 , A61B17/00 , A61B34/10
CPC classification number: A61B34/37 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/361 , A61B90/37 , A61B8/00 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B90/03 , A61B2090/364 , A61B2090/365 , A61B2090/378
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US20230329830A1
公开(公告)日：2023-10-19
申请号：US18212343
申请日：2023-06-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ian E. McDowall , Christopher J. Hasser
CPC classification number: A61B90/37 , G03B15/03 , G03B15/14 , A61B5/0013 , H04N23/11 , A61B2090/373 , A61B2560/0214 , A61B2090/306
Abstract: An illustrative method may include receiving images of a site captured at a same time by a camera, the images comprising a single visible color component image, a first non-visible image associated with first excitation illumination having a first wavelength outside a visible spectrum, and a second non-visible image associated with second excitation illumination having a second wavelength outside the visible spectrum and different than the first wavelength; generating, based on the single visible color component image, a monochromatic image; generating, based on the single visible color component image and the first non-visible image, a first alternate image representative of a first alternate imaging characteristic of the site; generating, based on the single visible color component image and the second non-visible image, a second alternate image representative of a second alternate imaging characteristic of the site; and displaying the monochromatic image combined with the first and second alternate images.
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