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公开(公告)号：US11980344B2
公开(公告)日：2024-05-14
申请号：US16331657
申请日：2017-09-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Timothy D. Soper
IPC: A61B1/00 , A61B1/005 , A61B1/01 , A61B5/00 , A61B5/06 , A61B34/00 , A61B34/35 , A61B34/37 , A61B34/20 , A61B34/30 , A61B90/00
CPC classification number: A61B1/00149 , A61B1/00006 , A61B1/00057 , A61B1/0016 , A61B1/009 , A61B1/01 , A61B5/065 , A61B5/6852 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/254 , A61B2034/301 , A61B2090/065 , A61B2090/3614 , A61B2090/371 , A61B2090/3735 , A61B2090/374 , A61B2090/376 , A61B2090/3762
Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.
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公开(公告)号：US11957424B2
公开(公告)日：2024-04-16
申请号：US17720151
申请日：2022-04-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Caitlin Q. Donhowe , Tao Zhao , Federico Barbagli , Vincent Duindam , Timothy D. Soper
IPC: A61B34/35 , A61B17/00 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , A61B90/50
CPC classification number: A61B34/35 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/76 , A61B90/50 , A61B2017/00694 , A61B2017/00809 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2034/306 , A61B34/71 , A61B2034/741 , A61B2034/742 , A61B2090/3614 , A61B2090/371
Abstract: A system includes an interventional instrument and a control system. The control system is configured to: generate a graphical user interface (GUI) including an image of a target region for deploying the interventional instrument, wherein the target region includes a plurality of target points and is determined by a probabilistic collection of the plurality of target points, wherein a size of the target region is based at least in part on a location of a target structure within a patient anatomy; responsive to an engagement of the interventional instrument with tissue in the target region, update the GUI to include an engagement location marker; and responsive to the engagement of the interventional instrument, update the GUI to include an image of a revised target region.
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公开(公告)号：US11890068B2
公开(公告)日：2024-02-06
申请号：US17459571
申请日：2021-08-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Vincent Duindam
CPC classification number: A61B34/30 , A61B34/77 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , A61B2034/301 , Y10S901/15 , Y10S901/17 , Y10S901/46
Abstract: A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.
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194.发明授权公开(公告)号：US11819284B2
公开(公告)日：2023-11-21
申请号：US16310804
申请日：2017-06-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Cristian Bianchi , Vincent Duindam , Oliver J. Wagner
CPC classification number: A61B34/20 , A61B17/00234 , A61B34/35 , A61M25/0105 , G06T19/003 , G06T19/006 , G06T19/20 , A61B2017/003 , A61B2017/00115 , A61B2017/00199 , A61B2034/101 , A61B2034/2055 , A61B2034/2061 , A61B2090/365 , A61M2025/0166 , G06T2219/2012
Abstract: A method for displaying guidance information during an image-guided medical procedure includes receiving, by one or more hardware processors, data from a tracking system associated with an elongate device comprising a flexible body, calculating a bend radius along a length of the flexible body, determining supplemental guidance information that includes an indication of whether the bend radius is less than a minimum allowable bend radius, augmenting images with the supplemental guidance information to produce augmented images by applying a scheme in which a portion of a graphical representation of the flexible body having a radius less than the minimum is augmented with a visual property, displaying the augmented images on a display device at a console, determining a direction to steer the flexible body to increase the bend radius, and displaying actuation information on the display device. The actuation information includes a directional indicator to display the direction.
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公开(公告)号：US11800991B2
公开(公告)日：2023-10-31
申请号：US14910601
申请日：2014-08-12
Applicant: Intuitive Surgical Operations Inc.
Inventor： Vincent Duindam , Carol Reiley
IPC: A61B5/06 , A61M25/01 , A61B34/00 , A61B17/34 , A61B5/00 , A61B34/10 , A61B34/30 , A61B34/20 , A61B10/04
CPC classification number: A61B5/066 , A61B5/743 , A61B17/34 , A61B34/25 , A61M25/01 , A61M25/0105 , A61B34/30 , A61B2010/045 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61M2025/0166
Abstract: A method of guiding an interventional instrument within a patient anatomy comprises processing a target location within the patient anatomy and receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy. The method also comprises determining a three-dimensional distance between the first location and the target location and displaying a symbol representing the target location and a symbol representing the tip portion of the interventional instrument.
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Patent Agency Ranking
公开(公告)号：US11759262B2
公开(公告)日：2023-09-19
申请号：US15564509
申请日：2016-04-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/35 , G06T7/00 , G06T7/30 , A61B1/005 , G06T7/38 , A61B34/30 , A61B90/00
CPC classification number: A61B34/20 , A61B1/009 , A61B1/00147 , A61B1/01 , A61B1/2676 , A61B34/10 , G06T7/0012 , G06T7/30 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/207 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2090/365 , A61B2090/397 , A61B2090/3945 , G06T7/38
Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US11723606B2
公开(公告)日：2023-08-15
申请号：US17127888
申请日：2020-12-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
CPC classification number: A61B5/7425 , A61B1/00006 , A61B1/000094 , A61B1/045 , A61B5/062 , A61B5/065 , A61B34/20 , A61B1/00165 , A61B1/00193 , A61B1/05 , A61B1/2676 , A61B5/06 , A61B5/7285 , A61B2017/00699 , A61B2034/2051 , A61B2034/2061
Abstract: A medical system includes an interventional instrument and a control system including one or more processors. The control system is configured to: receive a pose dataset for a point on the instrument retained in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters during a cyclical anatomical motion; determine a set of pose differentials for the identified point with respect to a reference point at each time parameter; identify a periodic signal for the anatomical motion from the set of pose differentials; generate a command signal indicating an intended movement of the instrument relative to the patient anatomy; adjust the command signal to include an instruction for a cyclical instrument motion based on a phase of the anatomical motion; and cause the intended movement of the instrument relative to the patient anatomy based on the adjusted command signal to compensate for the anatomical motion.
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公开(公告)号：US11672412B2
公开(公告)日：2023-06-13
申请号：US16754939
申请日：2018-10-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nicola Diolaiti , Federico Barbagli , Samuel Y. Chang , Vincent Duindam
CPC classification number: A61B1/0051 , A61B1/005 , A61B1/009 , A61B17/00234 , A61B34/20 , A61B34/76 , A61B2017/0011 , A61B2017/00115 , A61B2017/00296 , A61B2034/2048 , A61B2034/2061 , A61B2034/301 , A61B2090/065 , A61B2562/0261
Abstract: A medical device includes a flexible elongate instrument, an actuator for inserting and retracting the instrument, and a control unit configured to determine at least one of a force being exerted by the actuator or an amount of force applied at a proximal end of the instrument. The control unit is configured to determine a force exerted by the instrument on tissue of a patient based on a shape of the instrument and at least one of the force exerted by the actuator or the force applied at the proximal end. A method of operating a medical device includes: determining a shape of a flexible elongate instrument and at least one of a first force exerted by an actuator or a second force applied to a proximal end; and determining a third force, exerted on tissue, based on the shape and at least one of the first or second forces.
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199.发明申请公开(公告)号：US20230028738A1
公开(公告)日：2023-01-26
申请号：US17952043
申请日：2022-09-23
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Giuseppe Maria Prisco
Abstract: A controller operates in different operating modes to control movement of a distal tip of a medical instrument when inserting and retracting the medical instrument through linked body passages. When inserting the medical instrument, the controller normally operates in an automatic navigation mode unless manually overridden to operate in a manual mode. When retracting the medical instrument, the controller normally operates in a zero-force mode to allow the distal tip to freely move so that it may comply with the shape of the passages as the medical instrument is being retracted through the linked body unless manually overridden to operate in a manual mode.
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公开(公告)号：US11517200B2
公开(公告)日：2022-12-06
申请号：US16355366
申请日：2019-03-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Peter M. Herzlinger , Giuseppe Maria Prisco , Vincent Duindam , David Q. Larkin
Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.
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