公开(公告)号：US20160235496A1

公开(公告)日：2016-08-18

申请号：US15139682

申请日：2016-04-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Giuseppe Prisco ,  Nitish Swarup ,  Guanghua G. Zhang

IPC: A61B34/37 ,  A61B1/04 ,  A61B18/12 ,  A61B34/10 ,  A61B5/00 ,  A61B1/00 ,  A61B5/055 ,  A61B1/313

Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

Abstract translation: 为了帮助外科医生执行医疗程序，通常由显示屏和外科医生在计算机显示屏幕上显示和操作通常指示正在治疗的解剖结构的内部细节的辅助图像，以补充大体上解剖结构的外部视图的主要图像。 控制第一模式中的机器人手臂的主输入装置可以由外科医生切换到第二模式，以便改为用作鼠标式指示装置，以便于外科医生执行这种辅助信息的显示和操作。

公开(公告)号：US10792107B2

公开(公告)日：2020-10-06

申请号：US15371158

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20190388169A1

公开(公告)日：2019-12-26

申请号：US16564734

申请日：2019-09-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Nitish Swarup ,  Guanghua G. Zhang

IPC: A61B34/37 ,  A61B34/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12

Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

公开(公告)号：US20160140875A1

公开(公告)日：2016-05-19

申请号：US15006555

申请日：2016-01-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian David Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mauherjee

IPC: G09B23/28

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20220071721A1

公开(公告)日：2022-03-10

申请号：US17530166

申请日：2021-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman, JR. ,  Rajesh Kumar ,  David Q. Larkin ,  Nitish Swarup ,  Guanghua G. Zhang

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  G06F3/01 ,  G06F3/0484 ,  G06F3/0481 ,  G06F3/0346 ,  G06F3/0486 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12

Abstract: A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.

公开(公告)号：US11197731B2

公开(公告)日：2021-12-14

申请号：US16564734

申请日：2019-09-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Nitish Swarup ,  Guanghua G. Zhang

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  G06F3/01 ,  G06F3/0484 ,  G06F3/0481 ,  G06F3/0346 ,  G06F3/0486 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12 ,  A61B90/10 ,  A61B18/14 ,  A61B34/30 ,  A61N7/02 ,  A61B18/00

Abstract: A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.

公开(公告)号：US20210000546A1

公开(公告)日：2021-01-07

申请号：US16910818

申请日：2020-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20190247131A1

公开(公告)日：2019-08-15

申请号：US16396125

申请日：2019-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/04 ,  A61B1/313 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00

CPC classification number: A61B34/20 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B5/062 ,  A61B5/725 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US09867671B2

公开(公告)日：2018-01-16

申请号：US15607676

申请日：2017-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, Jr. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  G09B23/28 ,  A61B1/00 ,  A61B17/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20170079725A1

公开(公告)日：2017-03-23

申请号：US15371154

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B1/00 ,  A61B34/30 ,  A61B5/06 ,  A61B1/04

CPC classification number: A61B34/20 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B5/062 ,  A61B5/725 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.