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31.发明授权Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权用于远程操作的微创外科手术器械的对准的棘轮公开(公告)号：US08903549B2
公开(公告)日：2014-12-02
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
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：US12232837B2
公开(公告)日：2025-02-25
申请号：US18531965
申请日：2023-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Ambarish G. Goswami , Paul G. Griffiths , Brandon D. Itkowitz , Tao Zhao
Abstract: A robotic system comprises an input device movable by an operator and a processing unit. An operator reference frame is defined relative to the operator. The processing unit is configured to present, to the operator, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.
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公开(公告)号：US12226179B2
公开(公告)日：2025-02-18
申请号：US18654147
申请日：2024-05-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Nitish Swarup , Paul G. Griffiths , Goran Lynch
Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.
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公开(公告)号：US12213814B2
公开(公告)日：2025-02-04
申请号：US17610376
申请日：2020-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Brandon D. Itkowitz , Omid Mohareri , Dinesh Rabindran
Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.
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35.发明授权公开(公告)号：US12201484B2
公开(公告)日：2025-01-21
申请号：US18449586
申请日：2023-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Paul W. Mohr , Theodore W. Rogers
IPC: A61B90/00 , A61B34/00 , A61B34/35 , G06F3/01 , G06T19/00 , A61B1/00 , A61B17/00 , A61B17/02 , A61B34/10 , A61B90/50
Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.
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Patent Agency Ranking
36.发明公开公开(公告)号：US20240307142A1
公开(公告)日：2024-09-19
申请号：US18675783
申请日：2024-05-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Adrian N. Bedard
CPC classification number: A61B34/74 , A61B34/20 , A61B90/37 , G06F3/011 , A61B2090/373
Abstract: A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.
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公开(公告)号：US20240261048A1
公开(公告)日：2024-08-08
申请号：US18638519
申请日：2024-04-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Govinda Payyavula , Simon P. Dimaio , John William Henrie , Brandon D. Itkowitz , Anthony M. Jarc
CPC classification number: A61B34/35 , A61B34/74 , B25J9/1689 , A61B2017/00216 , A61B2034/2055
Abstract: A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.
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38.发明授权公开(公告)号：US12011244B2
公开(公告)日：2024-06-18
申请号：US18309110
申请日：2023-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. Dimaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , B25J3/00 , B25J9/1669 , B25J9/1689 , A61B2017/00725 , A61B2034/305 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.
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39.发明授权公开(公告)号：US11903665B2
公开(公告)日：2024-02-20
申请号：US17710435
申请日：2022-03-31
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Brian D. Hoffman , Paul W. Mohr
CPC classification number: A61B34/35 , A61B34/37 , A61B90/37 , A61B2017/00119 , A61B2090/0811 , A61B2090/371
Abstract: A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.
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公开(公告)号：US11747895B2
公开(公告)日：2023-09-05
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 , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC: G06F3/048 , G06F3/01 , G06F3/04815
CPC classification number: G06F3/013 , G06F3/04815
Abstract: A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.
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