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11.发明授权公开(公告)号：US09636186B2
公开(公告)日：2017-05-02
申请号：US15006549
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
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.
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12.发明授权Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权用于远程操作的微创外科手术器械的对准的棘轮公开(公告)号：US09579164B2
公开(公告)日：2017-02-28
申请号：US14996073
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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13.发明申请RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT 审中-公开用于远程微型外科手术仪器的主对齐公开(公告)号：US20150066053A1
公开(公告)日：2015-03-05
申请号：US14534526
申请日：2014-11-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Günter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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公开(公告)号：US20240197421A1
公开(公告)日：2024-06-20
申请号：US18416759
申请日：2024-01-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
CPC classification number: A61B34/35 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2018/00595 , A61B2018/00988 , A61B2034/101 , A61B2034/256 , A61B2034/302 , A61B2090/3612 , A61B2090/364 , A61B90/37
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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公开(公告)号：US11931122B2
公开(公告)日：2024-03-19
申请号：US16349202
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
CPC classification number: A61B34/35 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00477 , A61B2018/00595 , A61B2018/00988 , A61B2034/101 , A61B2034/256 , A61B2034/302 , A61B2090/3612 , A61B2090/364 , A61B90/37
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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Patent Agency Ranking
16.发明授权公开(公告)号：US11672619B2
公开(公告)日：2023-06-13
申请号：US17107862
申请日：2020-11-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , B25J3/00 , B25J9/1669 , B25J9/1689 , A61B2017/00725 , A61B2034/305 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.
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公开(公告)号：US20220387119A1
公开(公告)日：2022-12-08
申请号：US17863361
申请日：2022-07-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Mahdi Azizian , Brian D. Hoffman , Ian E. McDowall , Paul W. Mohr , William C. Nowlin
Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.
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公开(公告)号：US11406462B2
公开(公告)日：2022-08-09
申请号：US16349214
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Mahdi Azizian , Brian D. Hoffman , Ian E. McDowall , Paul W. Mohr , William C. Nowlin
IPC: A61B34/35 , A61B34/10 , A61B34/37 , A61B34/00 , A61B90/00 , A61B90/50 , A61B50/13 , A61B17/00 , B25J9/16 , A61B50/33 , A61B46/10
Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.
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公开(公告)号：US11311347B2
公开(公告)日：2022-04-26
申请号：US16349208
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pushkar Hingwe , Amy E. Kerdok , William C. Nowlin , David W. Robinson
Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
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公开(公告)号：US20210321865A1
公开(公告)日：2021-10-21
申请号：US17361122
申请日：2021-06-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , William C. Nowlin
Abstract: A robotic system includes a robotic arm configured to support an image capture device, the image capture device configured to capture source video of a field of view of the image capture device. The robotic system further includes a display device, and a processor communicatively coupled to the robotic arm and the display device. The processor is configured to render, on the display device, a first spatial subset of the source video, the first spatial subset corresponding to a first region of the field of view, and in response to a control signal to change the rendering: cause the robotic arm to move the image capture device and change the field of view captured by the source video, and render, on the display device, a second spatial subset of the source video, the second spatial subset corresponding to a second region of the field of view.
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