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.

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

IPC: B25J9/16 ,  A61B34/37

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.

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.

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.

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

IPC: B25J9/16 ,  B25J9/06 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04 ,  A61B90/00

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.

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.

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

IPC: B25J9/06 ,  B25J9/16 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04 ,  A61B34/20 ,  A61B90/00

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.

公开(公告)号：US20210251701A1

公开(公告)日：2021-08-19

申请号：US17307514

申请日：2021-05-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Patrick O'Grady ,  Christopher R. Burns ,  Simon P. DiMaio ,  Jason Hemphill ,  Brian D. Hoffman ,  Rodney Vance ,  Tao Zhao

IPC: A61B34/20 ,  A61B90/96 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61B34/00 ,  A61G13/00

Abstract: A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

公开(公告)号：US11058501B2

公开(公告)日：2021-07-13

申请号：US15735164

申请日：2016-06-09

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 ,  G16H50/50 ,  B25J9/16 ,  G16H20/40 ,  G16H40/67 ,  A61B34/20 ,  A61B34/37

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.

公开(公告)号：US20200215696A1

公开(公告)日：2020-07-09

申请号：US16827227

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.