公开(公告)号：US20190282312A1

公开(公告)日：2019-09-19

申请号：US16349202

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/00 ,  A61B34/10

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

公开(公告)号：US20240296604A1

公开(公告)日：2024-09-05

申请号：US18592922

申请日：2024-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Rui Guo ,  Xi Liu ,  Ziheng Wang ,  Marzieh Ershad Langroodi ,  Anthony M. Jarc

IPC: G06T11/20 ,  A61B34/20 ,  G06T5/60 ,  G06T5/70 ,  G06T7/00 ,  G06T7/246 ,  G06T7/73

CPC classification number: G06T11/206 ,  A61B34/20 ,  G06T5/60 ,  G06T5/70 ,  G06T7/0012 ,  G06T7/246 ,  G06T7/73 ,  A61B2034/2065 ,  G06T2207/10016 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30004 ,  G06T2207/30241 ,  G06T2210/41

Abstract: A method for detecting a location of a plurality of keypoints of a surgical instrument comprises receiving, at a first neural network model, a video input of a surgical procedure. The method further comprises generating, using the first neural network model, a first output image including a first output location of the plurality of keypoints annotated on a first output image of the surgical instrument. The method further comprises receiving, at a second neural network model, the first output image and historic keypoint trajectory data including a historic trajectory for the plurality of keypoints. The method further comprises determining, using the second neural network model, a trajectory for the plurality of keypoints. The method further comprises generating, using the second neural network model, a second output image including a second output location of the plurality of keypoints annotated on a second output image of the surgical instrument.

公开(公告)号：US20240197421A1

公开(公告)日：2024-06-20

申请号：US18416759

申请日：2024-01-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B17/00 ,  A61B18/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

公开(公告)号：US11931122B2

公开(公告)日：2024-03-19

申请号：US16349202

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

公开(公告)号：US20230389999A1

公开(公告)日：2023-12-07

申请号：US18336875

申请日：2023-06-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Julie L. Berry ,  Anthony M. Jarc ,  Amy E. Kerdok

IPC: A61B34/00 ,  A61G13/02 ,  G16H40/63

CPC classification number: A61B34/25 ,  A61G13/02 ,  G16H40/63 ,  A61B2034/256 ,  A61B2034/258 ,  A61B34/35

Abstract: A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user, the user profile including a parameter established during a prior teleoperational procedure. The parameter includes an ergonomic setup for an input device of the operator input system. The input device is configured to operate the teleoperational manipulator. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting the operator input system based on the at least one of the ergonomic setup for the operator input system.

公开(公告)号：US11559365B2

公开(公告)日：2023-01-24

申请号：US16489799

申请日：2018-03-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Govinda Payyavula ,  Simon P. DiMaio ,  John William Henrie ,  Brandon D. Itkowitz ,  Anthony M. Jarc

IPC: A61B34/35 ,  A61B34/00 ,  B25J9/16 ,  A61B34/20 ,  A61B17/00

Abstract: A teleoperational medical system includes a teleoperational control system, a teleoperational manipulator, an operator controller. The control system includes a processing unit configured to: determine a position and orientation of a marker on an operator of the operator controller; determine whether a head portion of the operator is directed toward or away from a display region of a display; based on a determination that the head portion is directed toward the display region, initiate an operator following mode in which a movement of the operator controller provides a corresponding movement to the teleoperational manipulator; and based on a determination that the head portion is directed away, suspend the operator following mode. The determination that the head portion is directed away from the display region of the display device includes determining whether the head portion of the operator is directed away from the display region for a threshold time period.

公开(公告)号：US20210407309A1

公开(公告)日：2021-12-30

申请号：US17293005

申请日：2019-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Liheng Guo

IPC: G09B5/02 ,  G06F3/0482 ,  H04N5/76 ,  G06F3/01 ,  G06F3/0346 ,  G09B19/24 ,  G16H40/63 ,  G16H30/20 ,  G06F16/51 ,  G16H70/20

Abstract: A system includes a sensor to sense a change in a position of an input control component and a tool; a storage medium embodies a collection of respective motion pictures, which show tool movement imparted by the control component in response to manual input provided by users, indexed based upon a metric; a storage medium embodies a set of instructions that cause a processor to perform operations comprising: determining a user's performance; recording a motion picture of the tool movement imparted by the master control component by the individual user; indexing the recorded motion picture to the collection of motion pictures; generating a user interface providing an interactive visual index; and displaying a selected motion picture on the display screen in response to user input at the interactive visual index.

公开(公告)号：US10943508B2

公开(公告)日：2021-03-09

申请号：US16807077

申请日：2020-03-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Christopher J. Sanchez ,  Timothy V. White ,  Eugene T. Nagel

IPC: G09B23/30 ,  G09B23/28

Abstract: Implementations relate to anatomical models and surgical training. In some implementations, an anatomical training model includes a base portion and a top portion that form a hollow space between the base portion and top portion. A plurality of holes are positioned in the top portion. The model includes a plurality of cannula supports, where each cannula support is aligned with one or more corresponding holes in the top portion.

公开(公告)号：US10912619B2

公开(公告)日：2021-02-09

申请号：US15772531

申请日：2016-11-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Chi Zhang

IPC: G09B23/28 ,  A61B34/35 ,  A61B34/10 ,  A61B34/37 ,  G16H50/50 ,  A61B34/00 ,  G16H20/30 ,  G16H40/67 ,  A61B90/00 ,  G09B23/30 ,  G16H40/20

Abstract: Systems, methods, and tangibly-implemented software instructions for supporting a teleoperated surgical system (TSS). A surgical input that includes monitored events of the TSS, is received. A current stage of the surgical procedure is autonomously determined based on the surgical input. A call for surgeon assistance may be detected, in response to which context-relevant assistance may be provided to a surgeon console of the TSS, the context-relevant assistance being stage-synchronized with the surgical procedure.

公开(公告)号：US20190090969A1

公开(公告)日：2019-03-28

申请号：US15772531

申请日：2016-11-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Chi Zhang

IPC: A61B34/35 ,  A61B34/10 ,  A61B90/00

Abstract: Systems, methods, and tangibly-implemented software instructions for supporting a teleoperated surgical system (TSS). A surgical input that includes monitored events of the TSS, is received. A current stage of the surgical procedure is autonomously determined based on the surgical input. A call for surgeon assistance may be detected, in response to which context-relevant assistance may be provided to a surgeon console of the TSS, the context-relevant assistance being stage-synchronized with the surgical procedure.