公开(公告)号：US11998282B2

公开(公告)日：2024-06-04

申请号：US16470050

申请日：2017-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Oliver J. Wagner ,  Andrew C. Waterbury

IPC: A61B34/20 ,  A61B17/34 ,  A61B34/35 ,  A61B90/96 ,  A61B1/00 ,  A61B10/04 ,  A61B17/00 ,  A61B17/29 ,  A61B17/30 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B17/3403 ,  A61B34/35 ,  A61B90/96 ,  A61B1/00193 ,  A61B2010/045 ,  A61B2017/00477 ,  A61B2017/00876 ,  A61B17/29 ,  A61B2017/306 ,  A61B2017/3413 ,  A61B2018/00577 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/302 ,  A61B2090/364 ,  A61B2090/3941 ,  A61B2090/3945

Abstract: A medical imaging system comprises a teleoperated assembly including a medical instrument, a first imaging instrument, a second imaging instrument, a tracking fixture, and a processor. The first imaging instrument generates a first image of a field of view of the first imaging instrument and the second imaging instrument generates a second image. The tracking fixture is engageable along at least a portion of the second imaging instrument. The tracking fixture includes one or more features. The medical instrument is attachable to an attachment feature of the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument. The processor is configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture and the first image.

公开(公告)号：US11972531B2

公开(公告)日：2024-04-30

申请号：US17846552

申请日：2022-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: G06T19/00 ,  A61B90/00 ,  G06T17/20 ,  G06T19/20

CPC classification number: G06T19/006 ,  A61B90/37 ,  G06T17/20 ,  G06T19/20 ,  A61B2090/374 ,  A61B2090/3762 ,  G06T2200/24 ,  G06T2210/41 ,  G06T2210/62 ,  G06T2219/2012

Abstract: Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.

公开(公告)号：US11937899B2

公开(公告)日：2024-03-26

申请号：US16562121

申请日：2019-09-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger

IPC: A61B5/00

CPC classification number: A61B5/0071 ,  A61B5/0033 ,  A61B5/7405 ,  A61B5/742 ,  A61B2576/00

Abstract: An imaging system includes an illuminator for providing illumination on a region of interest, one or more first detectors for detecting reflections of the illumination, and a processing unit. The processing unit is configured to: receive a first image containing the region of interest; determine a first region of high specular reflection in the first image based on the reflections of the illumination on the region of interest; mask the first image by substituting a default color designating masking to alert a user to incomplete image information in the first region of high specular reflection to create a masked first image; and generate a composite image based on the masked first image and a fluorescence image of the region of interest.

公开(公告)号：US20230338111A1

公开(公告)日：2023-10-26

申请号：US18308992

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

IPC: A61B90/50 ,  A61B90/11 ,  A61B34/20

CPC classification number: A61B90/50 ,  A61B90/11 ,  A61B34/20 ,  B25J9/1682

Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

公开(公告)号：US20230307121A1

公开(公告)日：2023-09-28

申请号：US18325698

申请日：2023-05-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L67/104 ,  G16H20/40 ,  G16H40/67

CPC classification number: G16H40/63 ,  A61F2/60 ,  G05B15/02 ,  G06F13/37 ,  G16H20/30 ,  G16H20/40 ,  G16H40/67 ,  H04L67/1046

Abstract: A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.

公开(公告)号：US11710561B2

公开(公告)日：2023-07-25

申请号：US17412812

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, inc.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L67/104 ,  G16H20/40 ,  G16H40/67

CPC classification number: G16H40/63 ,  A61F2/60 ,  G05B15/02 ,  G06F13/37 ,  G16H20/30 ,  G16H20/40 ,  G16H40/67 ,  H04L67/1046

Abstract: A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.

公开(公告)号：US20210391070A1

公开(公告)日：2021-12-16

申请号：US17412812

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L29/08 ,  G16H20/40 ,  G16H40/67

Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

公开(公告)号：US20200253673A1

公开(公告)日：2020-08-13

申请号：US16626001

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC,

Inventor： Mahdi Azizian ,  Simon P. DiMaio

IPC: A61B34/35

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

公开(公告)号：US10603135B2

公开(公告)日：2020-03-31

申请号：US15522657

申请日：2015-10-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

IPC: A61B90/50 ,  A61B90/11 ,  A61B34/20 ,  B25J9/16 ,  B25J9/00 ,  A61B34/00 ,  A61B1/00

Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

公开(公告)号：US20200093544A1

公开(公告)日：2020-03-26

申请号：US16465541

申请日：2018-01-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: A61B34/20 ,  A61B90/00 ,  A61B1/04 ,  A61B34/30 ,  A61B1/00 ,  A61B34/00 ,  G16H30/40 ,  G16H50/50 ,  G06T11/60 ,  G06F3/0488 ,  G06T7/00

Abstract: A system and method for registration and coordinated manipulation of augmented reality image components includes registering a model of patient anatomy to a first image of the patient anatomy captured using an imaging device to determine a baseline relationship between the model and the first image, tracking movement of a computer-assisted device used to manipulate the imaging device, updating the baseline relationship based on the tracked movement, and generating a composite image by overlaying the model on a second image of the patient anatomy according to the updated relationship. In some embodiments, the model is semi-transparent. In some embodiments, registering the model to the first image includes adjusting the model relative to the first image based on one or more inputs received from a user and generating a model to image transformation based on the adjustments to the model. The model to image transformation captures the baseline relationship.