公开(公告)号：US10773388B2

公开(公告)日：2020-09-15

申请号：US15459175

申请日：2017-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David S. Mintz ,  Thomas R. Nixon

IPC: B25J9/16 ,  A61B17/00 ,  A61B1/00 ,  A61B90/00 ,  A61B34/20 ,  A61B1/005 ,  A61B34/30 ,  A61B1/04 ,  A61B1/313 ,  A61B34/10 ,  A61B34/00 ,  A61B34/37

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US10730187B2

公开(公告)日：2020-08-04

申请号：US15638172

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

IPC: A61B17/00 ,  A61B1/00 ,  A61B34/20 ,  A61B34/30 ,  A61B1/04 ,  A61B34/10 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  A61B90/00 ,  A61B1/005 ,  A61B1/313

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US20200237456A1

公开(公告)日：2020-07-30

申请号：US16847267

申请日：2020-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Gregory K. Toth ,  Thomas R. Nixon

IPC: A61B34/30 ,  A61B34/37

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US10595946B2

公开(公告)日：2020-03-24

申请号：US15877364

申请日：2018-01-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas R. Nixon

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  B25J9/16 ,  G06F19/00 ,  A61B17/00 ,  A61B17/29

Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

公开(公告)号：US10548459B2

公开(公告)日：2020-02-04

申请号：US15262932

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Brandon D. Itkowitz ,  Ian E. McDowall ,  Thomas R. Nixon ,  Bruce M. Schena ,  Niels Smaby

IPC: A61B1/00 ,  A61B34/30 ,  A61B90/00 ,  A61B1/04

Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle other than 0° relative to an optical axis of the imaging instrument, and the imaging instrument is a stereoscopic imaging instrument including first and second image sources. The processing unit is further configured for: obtaining first image data from the imaging instrument at a first roll position; obtaining subsequent image data from the imaging instrument at a second roll position; and, responsive to a roll movement of the imaging instrument between the first and second roll positions, transitioning between presentation of the first image data on a user display and presentation of the subsequent image data on the user display. The transition includes changing a position of presentation of the first and second image sources.

公开(公告)号：US10149729B2

公开(公告)日：2018-12-11

申请号：US15677964

申请日：2017-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

公开(公告)号：US10064689B2

公开(公告)日：2018-09-04

申请号：US15126983

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

IPC: A61B34/30 ,  B25J9/16 ,  A61B1/00 ,  A61B34/20

Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.

公开(公告)号：US20170305016A1

公开(公告)日：2017-10-26

申请号：US15638172

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

IPC: B25J9/16 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00 ,  A61B1/00 ,  A61B34/20

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US20170210012A1

公开(公告)日：2017-07-27

申请号：US15459145

申请日：2017-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David S. Mintz ,  Thomas R. Nixon

IPC: B25J9/16 ,  A61B1/00 ,  A61B90/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B17/00

CPC classification number: B25J9/1692 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/0051 ,  A61B1/04 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00199 ,  A61B2017/00292 ,  A61B2017/00296 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/373 ,  B25J9/1694 ,  B25J9/1697 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US20170188792A1

公开(公告)日：2017-07-06

申请号：US15262932

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Brandon D. Itkowitz ,  Ian E. McDowall ,  Thomas R. Nixon ,  Bruce M. Schena ,  Niels Samby

IPC: A61B1/00 ,  A61B1/04 ,  A61B34/30

Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit including one or more processors. The processing unit is configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle greater than 0° relative (e.g., 30 degrees) to an optical axis of the imaging instrument. The processing unit is further configured for obtaining first image data from the imaging instrument coupled to the teleoperational assembly at a first roll position and for obtaining subsequent image data from the imaging instrument coupled to the teleoperational assembly at a second roll position. The processing unit is further configured for coordinating a roll movement of the imaging instrument between the first and second roll positions with a transition between presentation of the first image data and the subsequent image data.