公开(公告)号：US11682319B2

公开(公告)日：2023-06-20

申请号：US16486314

申请日：2017-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： W. Andrew Grubbs ,  John Alexander

IPC: G09B23/30 ,  A61B34/30 ,  G09B23/28

CPC classification number: G09B23/303 ,  A61B34/30 ,  G09B23/285

Abstract: Artificial blood compositions for use in simulated surgery, and kits including the compositions, are disclosed. Tissues, organs, and organ blocks which include dissolvable clots are also disclosed. Further disclosed are methods for carrying out simulated surgical procedures using the compositions, tissues, organs, organ blocks, and kits described herein.

公开(公告)号：US11678813B2

公开(公告)日：2023-06-20

申请号：US17240154

申请日：2021-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US11672618B2

公开(公告)日：2023-06-13

申请号：US17834651

申请日：2022-06-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

公开(公告)号：US20230172677A1

公开(公告)日：2023-06-08

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B2034/301

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

公开(公告)号：US20230157769A1

公开(公告)日：2023-05-25

申请号：US18159568

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B2034/301

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.

公开(公告)号：US20230157687A1

公开(公告)日：2023-05-25

申请号：US18158069

申请日：2023-01-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

IPC: A61B17/068 ,  A61B17/072

CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

Abstract: Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

公开(公告)号：US11657502B2

公开(公告)日：2023-05-23

申请号：US17122788

申请日：2020-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

CPC classification number: G06T7/0012 ,  A61B34/10 ,  A61B34/20 ,  G06T7/12 ,  A61B2034/2065 ,  G06T2207/30101

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US20230149108A1

公开(公告)日：2023-05-18

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/344 ,  G06F30/23 ,  G06T3/0068 ,  G06T17/20 ,  A61B1/000094 ,  A61B1/00147 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

公开(公告)号：US11638622B2

公开(公告)日：2023-05-02

申请号：US16283311

申请日：2019-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tabish Mustufa ,  Nicola Diolaiti ,  David Q. Larkin

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B34/37 ,  A61B17/00 ,  A61B34/10

Abstract: A medical system may comprise a display and a processor configured to determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide. The processor may also be configured to cause the optimal position to be displayed on the display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.

公开(公告)号：US11628013B2

公开(公告)日：2023-04-18

申请号：US16327219

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00

Abstract: A method of monitoring a medical instrument during a medical procedure includes: receiving state information from a control system in communication with the medical instrument; detecting, by the control system, motion of at least a portion of the medical instrument; comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value based on the state information received from the control system; determining, based on the detected motion exceeding the threshold motion value, significant movement of a patient has occurred; providing a system response based on determining significant movement of the patient has occurred; comparing the detected motion with a threshold control value, wherein the threshold control value is higher than the threshold motion value; and disregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.