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.

公开(公告)号：US11941734B2

公开(公告)日：2024-03-26

申请号：US17213924

申请日：2021-03-26

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 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

CPC classification number: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G06T11/40 ,  A61B34/20 ,  A61B2034/2061 ,  A61B34/25 ,  A61B90/361 ,  A61B2090/371 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  Y02P90/02

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

公开(公告)号：US11897127B2

公开(公告)日：2024-02-13

申请号：US17287430

申请日：2019-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/00 ,  B25J9/16 ,  B25J15/00

CPC classification number: B25J9/02 ,  B25J9/0084 ,  B25J9/1697 ,  B25J15/0071

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.

公开(公告)号：US11882990B2

公开(公告)日：2024-01-30

申请号：US16481954

申请日：2018-02-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/10 ,  A61B17/00 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B34/20 ,  A61B1/005 ,  A61B1/00006 ,  A61B1/009 ,  A61B17/00234 ,  A61B34/10 ,  A61B2017/00296 ,  A61B2034/105 ,  A61B2034/2061

Abstract: A system and method for data filtering of passageway sensor data include traversing a plurality of passageways with a flexible elongate device and recording, during the traversing, positional data using one or more sensors coupled to the flexible elongate device. The positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway. The system and method further include labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points and registering the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.

公开(公告)号：US11863733B2

公开(公告)日：2024-01-02

申请号：US17570175

申请日：2022-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: H04N13/246 ,  G06T7/80 ,  G01D1/00 ,  G01D15/00 ,  H04N13/239

CPC classification number: H04N13/246 ,  G01D1/00 ,  G01D15/00 ,  G06T7/85 ,  H04N13/239 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/10148 ,  G06T2207/20056 ,  G06T2207/30204

Abstract: A calibration assembly may be used with an endoscopic imaging system having a field of view. The calibration assembly may comprise an interface configured for constraining engagement with the endoscopic imaging system and a target coupled with the interface so as to be within the field of view. The target may include a plurality of calibration features. The calibration assembly may be reconfigurable from a first spatial arrangement between the target and the endoscopic imaging system to a second spatial arrangement between the target and the endoscopic imaging system. The calibration assembly may also comprise a processor configured to obtain, from the endoscopic imaging system, first and second images of at least some of the calibration features of the target at the first and second spatial arrangements. The processor may also generate calibration data for the endoscopic imaging system using the first and second images.

公开(公告)号：US20230371783A1

公开(公告)日：2023-11-23

申请号：US18230310

申请日：2023-08-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90

CPC classification number: A61B1/000095 ,  A61B1/00193 ,  A61B1/0638 ,  A61B90/30 ,  A61B1/0655 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/37 ,  G06T7/90 ,  A61B2090/371 ,  A61B34/30

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light. The illuminator includes a plurality of color component illumination sources. The non-white light is light other than white light and is generated by a combination of light output by the plurality of color component illumination sources. The apparatus may also control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light and adjust pixel values of a color channel of the camera in the frame of the scene to decrease noise of the color channel in the frame of the scene.

公开(公告)号：US11806102B2

公开(公告)日：2023-11-07

申请号：US17832319

申请日：2022-06-03

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 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

公开(公告)号：US11801100B2

公开(公告)日：2023-10-31

申请号：US17677866

申请日：2022-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC: A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  B25J9/1689 ,  B25J9/1697 ,  A61B2034/2065

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.

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.

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

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

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.