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21.发明申请公开(公告)号：US20200093544A1
公开(公告)日：2020-03-26
申请号：US16465541
申请日：2018-01-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
IPC: A61B34/20 , A61B90/00 , A61B1/04 , A61B34/30 , A61B1/00 , A61B34/00 , G16H30/40 , G16H50/50 , G06T11/60 , G06F3/0488 , G06T7/00
Abstract: A system and method for registration and coordinated manipulation of augmented reality image components includes registering a model of patient anatomy to a first image of the patient anatomy captured using an imaging device to determine a baseline relationship between the model and the first image, tracking movement of a computer-assisted device used to manipulate the imaging device, updating the baseline relationship based on the tracked movement, and generating a composite image by overlaying the model on a second image of the patient anatomy according to the updated relationship. In some embodiments, the model is semi-transparent. In some embodiments, registering the model to the first image includes adjusting the model relative to the first image based on one or more inputs received from a user and generating a model to image transformation based on the adjustments to the model. The model to image transformation captures the baseline relationship.
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公开(公告)号：US10376335B2
公开(公告)日：2019-08-13
申请号：US15575603
申请日：2015-09-10
Inventor： Mahdi Azizian , Lutz Blohm , Holger Kunze , Christine Niebler , Jonathan Sorger
Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.
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公开(公告)号：US10376324B2
公开(公告)日：2019-08-13
申请号：US15522568
申请日：2015-10-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Amy E. Kerdok , Margaret M. Nixon , Douglas S. Langley , Wesley Swanson , Mahdi Azizian
Abstract: A system and method for an articulated arm stabilization includes an arm stabilizer for use with articulated arms of a computer-assisted medical device. The stabilizer includes a spine, a first vibration absorbing mount attached to the spine, a second vibration absorbing mount attached to the spine, a first clamp attached to the first vibration absorbing mount, and a second clamp attached to the second vibration absorbing mount. The first clamp is adapted to hold a first attachment point of a first articulated arm without slipping. The second clamp is adapted to hold a second attachment point of a second articulated arm without slipping. In some embodiments, the arm stabilizer stabilizes and reduces vibration in the first and second articulated arms. In some embodiments, the vibration is in a range from 0.5 to 14 Hz. In some embodiments, the spine limits relative motion between the first clamp and the second clamp.
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公开(公告)号：US10127060B2
公开(公告)日：2018-11-13
申请号：US14912079
申请日：2014-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Simon P. Dimaio
Abstract: A system and method of logging and replay among heterogeneous devices includes one or more shared services including a replay service, a processor for executing the shared services, and a shared interface for providing access to the shared services. The replay service selects one or more logs for playback, emulates one or more playback devices, each of the playback devices being associated with a respective one of the logs, extracts one or more log entries from each of the logs, recreates one or more recreated service requests for the one or more shared services based on information associated with each of the log entries, and initiates the recreated service requests. In some embodiments, the system and method further include a logging service to create new log entries based on new service requests, associate the new log entries with a corresponding timestamp, and record the new log entries.
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25.发明申请公开(公告)号：US20160203282A1
公开(公告)日：2016-07-14
申请号：US14912083
申请日：2014-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Simon P. Dimaio
CPC classification number: G16H40/63 , G05B15/02 , G06F19/00 , G06F19/3418 , G06F19/3481
Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
Abstract translation: 异构设备之间协同运动的系统和方法包括具有一个或多个可移动元件的医疗设备和一个或多个处理器。 任何处理器都使用共享接口来访问服务。 医疗设备从令牌服务通过共享接口请求移动令牌，从令牌服务接收移动令牌，通过共享接口交换配置数据，运动数据或计划的运动数据，为第一可移动元件 基于运动令牌和配置数据，运动学数据或计划运动数据的可移动元件，并执行第一运动。 在一些实施例中，从包括排他性令牌，主跟随令牌，从跟随令牌令牌，主冲突避免令牌，副冲突避免令牌以及 被动碰撞避免令牌。
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Patent Agency Ranking
公开(公告)号：US12161512B2
公开(公告)日：2024-12-10
申请号：US17615001
申请日：2020-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pourya Shirazian , Mahdi Azizian , A. Jonathan McLeod , Daniel Proksch
Abstract: An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging modality. The integrated representation of the surgical space as captured by the second imaging modality may be selectively movable and may be generated based on first imagery of the surgical space captured by the first imaging modality and second imagery of the surgical space captured by the second imaging modality in a manner that provides a visually realistic appearance of depth.
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公开(公告)号：US12133702B2
公开(公告)日：2024-11-05
申请号：US16349196
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Paul W. Mohr
IPC: A61B34/35 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/37 , G16H20/40 , G16H40/67 , A61B17/00 , A61B18/00 , A61B90/00
Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
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28.发明公开公开(公告)号：US20240349993A1
公开(公告)日：2024-10-24
申请号：US18685892
申请日：2022-09-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Maximilian H. Allan , Mahdi Azizian , Thomas Kurmann
CPC classification number: A61B1/00193 , A61B1/000094 , A61B1/000096 , A61B1/126
Abstract: An illustrative image processing system is configured to apply. as an input to a processing module. a first video stream generated by an imaging device during a medical procedure. The processing module is configured to generate. based on the input. output data used to perform an image-based operation associated with the medical procedure. The image processing system is further configured to detect, while the first video stream is being applied to the processing module. a deficiency associated with the first video stream and apply. as the input to the processing module and based on the detecting of the deficiency. a second video stream generated by the imaging device during the medical procedure.
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公开(公告)号：US20230218356A1
公开(公告)日：2023-07-13
申请号：US18153193
申请日：2023-01-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Simon P. DiMaio
CPC classification number: A61B34/20 , A61B1/00009 , A61B2034/2051
Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.
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公开(公告)号：US11583351B2
公开(公告)日：2023-02-21
申请号：US16503367
申请日：2019-07-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Amy E. Kerdok , Margaret M. Nixon , Douglas S. Langley , Wesley Swanson , Mahdi Azizian
Abstract: A system and method includes deploying first and second articulated arms of a computer-assisted device so that a first attachment point on the first articulated arm and a second attachment point of the second articulated arm are positioned and oriented relative to each other based on a size and a shape of an arm stabilizer; stabilizing and reducing vibration of the first and second articulated arms by attaching the arm stabilizer to the first and second attachment points; after the stabilizing and reducing vibration of the first and second articulated arms, positioning and orienting a tool with the first articulated arm; and after the positioning and orienting of the tool, operating the tool. In some embodiments, the tool is a medical tool. In some embodiments, the system and method further include positioning and orienting a second tool with the second articulated arm and operating the second tool.
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