公开(公告)号：US11154374B2

公开(公告)日：2021-10-26

申请号：US16661649

申请日：2019-10-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B46/10 ,  A61B34/30 ,  A61B50/13 ,  A61B90/13 ,  A61B34/37 ,  A61B50/10 ,  A61B50/18 ,  A61B1/00 ,  A61B17/00

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

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.

公开(公告)号：US20210038340A1

公开(公告)日：2021-02-11

申请号：US16757746

申请日：2018-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B34/35 ,  A61B34/00 ,  G06F3/01 ,  G06T19/00

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.

公开(公告)号：US10779899B2

公开(公告)日：2020-09-22

申请号：US16016436

申请日：2018-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B90/50 ,  F16M13/02 ,  B25J9/00 ,  B25J9/16 ,  B25J19/00 ,  A61B90/00

Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

公开(公告)号：US20200085520A1

公开(公告)日：2020-03-19

申请号：US16689949

申请日：2019-11-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US20200060777A1

公开(公告)日：2020-02-27

申请号：US16667523

申请日：2019-10-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10512513B2

公开(公告)日：2019-12-24

申请号：US15726733

申请日：2017-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10285764B2

公开(公告)日：2019-05-14

申请号：US15118305

申请日：2015-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

公开(公告)号：US20190038335A1

公开(公告)日：2019-02-07

申请号：US16153721

申请日：2018-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul W. Mohr ,  David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Salvatore J. Brogna

IPC: A61B18/12 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B34/00 ,  A61B90/00 ,  A61B18/14 ,  A61B18/20 ,  A61B17/00 ,  A61B17/32

Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

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.