公开(公告)号：US09993222B2

公开(公告)日：2018-06-12

申请号：US15116561

申请日：2015-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  SIEMENS AG HEALTHCARE SECTOR

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Holger Kunze ,  Lutz Blohm

IPC: A61B34/20 ,  A61B6/10 ,  A61B6/00 ,  G06F19/00

CPC classification number: A61B6/547 ,  A61B6/102 ,  A61B6/4405 ,  A61B6/4441 ,  A61B34/20 ,  B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G06F19/00 ,  G16H40/63

Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.

公开(公告)号：US20180153636A1

公开(公告)日：2018-06-07

申请号：US15575603

申请日：2015-09-10

Applicant: SIEMENS HEALTHCARE GMBH ,  INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Lutz Blohm ,  Holger Kunze ,  Christine Niebler ,  Jonathan Sorger

IPC: A61B90/00 ,  A61B34/30

CPC classification number: A61B90/37 ,  A61B34/25 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/364 ,  A61B2090/367 ,  A61B2090/368 ,  A61B2090/3762

Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.