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21.发明申请公开(公告)号：US20140055489A1
公开(公告)日：2014-02-27
申请号：US13768047
申请日：2013-02-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
CPC classification number: G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40
Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
Abstract translation: 操作人员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看工作现场的实时图像。 工具信息通过在工具上呈现工具信息而在工具上当前的注视区域中提供工具信息，以便不模糊由工具在工作时被处理的对象，也不需要使用者在观察工具时重新聚焦 信息和立体声查看器上的工具图像。
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22.发明申请公开(公告)号：US20130245641A1
公开(公告)日：2013-09-19
申请号：US13839438
申请日：2013-03-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Günter D. Niemeyer , David S. Mintz
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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公开(公告)号：US12266040B2
公开(公告)日：2025-04-01
申请号：US18437072
申请日：2024-02-08
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 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , B25J9/16 , G05B19/42 , G06T11/40
Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.
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公开(公告)号：US12213757B2
公开(公告)日：2025-02-04
申请号：US18513322
申请日：2023-11-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
IPC: H04N23/00 , A61B1/00 , A61B34/35 , A61B34/37 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/54 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , A61B34/00 , A61B90/00 , H04N23/50
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US12194635B2
公开(公告)日：2025-01-14
申请号：US18313230
申请日：2023-05-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.
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Patent Agency Ranking
公开(公告)号：US20240024051A1
公开(公告)日：2024-01-25
申请号：US18351424
申请日：2023-07-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman, II , Jonathan M. Sorger
IPC: A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67
CPC classification number: A61B34/35 , A61B34/10 , A61B34/76 , A61B90/00 , A61B34/00 , A61B34/37 , G16H50/50 , B25J9/1689 , G16H20/40 , G16H40/67 , A61B34/77 , A61B2090/3612 , G05B2219/40137 , G05B2219/45118 , G05B2219/40161 , G05B2219/40167 , G05B2219/40143 , G05B2219/40169 , G05B2219/40144 , G05B2219/40191 , G05B2219/40168 , G05B2219/40134 , A61B34/20
Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
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公开(公告)号：US11737841B2
公开(公告)日：2023-08-29
申请号：US17354567
申请日：2021-06-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brent Tokarchuk , Mahdi Azizian , Joey Chau , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , Ian E. McDowall , William C. Nowlin , John D. Seaman, II , Jonathan M. Sorger
IPC: A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67 , A61B34/20
CPC classification number: A61B34/35 , A61B34/00 , A61B34/10 , A61B34/37 , A61B34/76 , A61B34/77 , A61B90/00 , B25J9/1689 , G16H20/40 , G16H40/67 , G16H50/50 , A61B34/20 , A61B90/361 , A61B90/37 , A61B2090/3612 , G05B2219/40134 , G05B2219/40137 , G05B2219/40143 , G05B2219/40144 , G05B2219/40161 , G05B2219/40167 , G05B2219/40168 , G05B2219/40169 , G05B2219/40191 , G05B2219/45118
Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.
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公开(公告)号：US11712798B2
公开(公告)日：2023-08-01
申请号：US17512832
申请日：2021-10-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
CPC classification number: B25J9/1607 , A61B34/35 , A61B34/37 , B25J3/04 , B25J9/06 , B25J9/163 , B25J9/1641 , B25J9/1689 , G05B19/00 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1694 , G05B2219/37388
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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29.发明授权公开(公告)号：US11558595B2
公开(公告)日：2023-01-17
申请号：US16202211
申请日：2018-11-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Catherine J. Mohr , Simon P. DiMaio
IPC: H04N13/128 , H04N13/239
Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
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公开(公告)号：US11173597B2
公开(公告)日：2021-11-16
申请号：US16185867
申请日：2018-11-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Simon P. DiMaio , Kollin M. Tierling
Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
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