公开(公告)号：US09402690B2

公开(公告)日：2016-08-02

申请号：US14450251

申请日：2014-08-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Christopher J. Hasser ,  Brian E. Miller ,  Catherine J. Mohr ,  Tao Zhao ,  Simon Di Maio ,  Brian D. Hoffman

IPC: G06T15/00 ,  A61B6/00 ,  A61B19/00 ,  G06T7/00 ,  G06T11/00 ,  H04N13/00 ,  H04N13/02 ,  H04N13/04

CPC classification number: A61B34/25 ,  A61B34/20 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/373 ,  G06T7/593 ,  G06T11/00 ,  G06T2207/10068 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30004 ,  H04N13/10 ,  H04N13/20 ,  H04N13/30 ,  H04N2013/0092

Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract translation: 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。

公开(公告)号：US09314926B2

公开(公告)日：2016-04-19

申请号：US13767856

申请日：2013-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio ,  Tao Zhao ,  Lawton N. Verner ,  Alan E. Loh ,  Jonathan Sorger ,  Bruce Michael Schena

IPC: A61B19/00 ,  B25J11/00 ,  B25J5/02 ,  B25J9/10 ,  A61B17/00 ,  A61B18/14 ,  A61B17/34

CPC classification number: B25J11/00 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/1425 ,  A61B2034/2059 ,  A61B2090/3954 ,  A61B2090/3983 ,  A61B2090/506 ,  B25J5/02 ,  B25J9/1065

Abstract: Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

Abstract translation: 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。

公开(公告)号：US20140282196A1

公开(公告)日：2014-09-18

申请号：US14210840

申请日：2014-03-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Paul W. Mohr ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/01 ,  G06F3/0484 ,  G06F3/0482

Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.

Abstract translation: 机器人系统根据用户界面类型提供与凝视跟踪相关联的用户可选择的动作。 注视跟踪的用户发起的校正和/或重新校准可以在用户可选动作的个体的处理期间执行。

公开(公告)号：US20140187949A1

公开(公告)日：2014-07-03

申请号：US14144186

申请日：2013-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Dorin Panescu

IPC: A61B8/12

CPC classification number: A61B8/12 ,  A61B5/0066 ,  A61B5/065 ,  A61B8/0841 ,  A61B8/085 ,  A61B8/4245 ,  A61B8/4263 ,  A61B10/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/364

Abstract: A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

Abstract translation: 介入仪器的部署方法由处理系统执行。 该方法包括从成像探针接收解剖结构的图像。 图像具有图像参考系。 成像探头可以远离导管导管的远端延伸。 引导导管的远端具有导管参照系。 该方法还包括接收与图像中标识的目标结构相关联的位置数据。 所接收的位置数据在图像参考系中。 该方法还包括将与目标结构相关联的位置数据从参考图像帧变换为导管参照系。

公开(公告)号：US08706301B2

公开(公告)日：2014-04-22

申请号：US13736720

申请日：2013-01-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

IPC: G01L5/00 ,  G06F19/00 ,  H04N5/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/40144

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。

公开(公告)号：US20140058564A1

公开(公告)日：2014-02-27

申请号：US14066823

申请日：2013-10-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

IPC: B25J9/16 ,  A61B19/00

CPC classification number: B25J9/1633 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/065 ,  A61B2090/365 ,  B25J9/1697 ,  Y10S901/47

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract translation: 用于在机器人手术系统中提供力信息的视觉表示的方法和系统。 确定手术末端执行器的真实位置。 还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。 表示实际和投影位置的图像叠加在显示器上。 两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。 此外，确定并显示组织变形信息。