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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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24.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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公开(公告)号：US12167943B2
公开(公告)日：2024-12-17
申请号：US18308992
申请日：2023-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Andrew C. Waterbury , Jonathan M. Sorger
Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.
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Patent Agency Ranking
公开(公告)号：US12165317B2
公开(公告)日：2024-12-10
申请号：US17612973
申请日：2020-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel Proksch , Mahdi Azizian , A. Jonathan McLeod , Pourya Shirazian
Abstract: A composite medical imaging system may direct a display device to display an image captured by an imaging device and showing a view of a surgical area and display an augmentation region within the image and that shows supplemental content. The view of the surgical area shows surface anatomy located at the surgical area and an object located at the surgical area. The augmentation region creates an occlusion over at least a portion of the view of the surgical area. The system may detect an overlap in the image between at least a portion of the object and at least a portion of the augmentation region. In response to the detection of the overlap, the system may adjust the image to decrease an extent of the occlusion within the overlap by the augmentation region.
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公开(公告)号：US20240282436A1
公开(公告)日：2024-08-22
申请号：US18651318
申请日：2024-04-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian , Christopher R. Burns , Boris Foelsch , Liron Leist
IPC: G16H40/20 , A61B34/00 , A61B90/98 , G06K7/10 , G06K7/14 , G16H15/00 , G16H20/40 , G16H40/67 , G16H70/20 , G16H80/00 , H04W4/38 , H04W8/00
CPC classification number: G16H40/20 , A61B34/25 , A61B90/98 , G16H40/67 , H04W4/38 , H04W8/005 , G06K7/10297 , G06K7/1417 , G16H15/00 , G16H20/40 , G16H70/20 , G16H80/00
Abstract: A beacon-based metrics system tracks, based on medical session data logged by a computer-assisted surgical system, events associated with the computer-assisted surgical system; determines that a user device that is not communicatively paired with the computer-assisted surgical system detects a beacon associated with the computer-assisted surgical system; and generates medical facility metrics data representative of the tracked events. Generating the medical facility metrics data includes identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating information associated with the user device with the set of tracked events.
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公开(公告)号：US12027257B2
公开(公告)日：2024-07-02
申请号：US17103661
申请日：2020-11-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian , Christopher R. Burns , Boris Foelsch , Liron Leist
IPC: G16H40/20 , A61B34/00 , A61B90/98 , G06K7/10 , G06K7/14 , G16H15/00 , G16H20/40 , G16H40/67 , G16H70/20 , G16H80/00 , H04W4/38 , H04W8/00
CPC classification number: G16H40/20 , A61B34/25 , A61B90/98 , G16H40/67 , H04W4/38 , H04W8/005 , G06K7/10297 , G06K7/1417 , G16H15/00 , G16H20/40 , G16H70/20 , G16H80/00
Abstract: A beacon-based metrics system may track events associated with a user device located within a medical facility, determine that the user device detects a beacon emitted by a beacon generator located within the medical facility, and identify information included in the beacon. The beacon-based metrics system may generate medical facility metrics data representative of the tracked events by identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating the information included in the beacon with the set of tracked events.
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公开(公告)号：US12011236B2
公开(公告)日：2024-06-18
申请号：US16637461
申请日：2018-08-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
CPC classification number: A61B34/25 , A61B34/37 , A61B34/70 , A61B34/76 , A61B90/37 , A61B2034/252 , A61B2090/365 , A61B2090/371 , A61B2090/3762
Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a field of view image obtained by a first imaging system. The method also includes receiving alert information and providing an alert indication, based upon the alert information, within the surgical environment image by altering a portion of the surgical environment image.
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公开(公告)号：US11997473B2
公开(公告)日：2024-05-28
申请号：US17636496
申请日：2020-08-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
CPC classification number: H04S7/303 , A61B34/35 , G16H40/63 , A61B2034/302 , H04S2400/11 , H04S2400/15
Abstract: System and method for projecting audio signals to an operator of a teleoperational surgical system to convey spatial orientation associated with the audio signals to the operator. Characteristics of the audio signals such as direction and volume may be selected to give the impression that the remote operator is positioned locally next to the patient. Characteristics of the audio signals may also be modified to provide spatial translations between actual locations of audio sources within a physical audio environment and simulations locations of the audio sources with a virtual audio environment.
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