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公开(公告)号：US20230266823A1
公开(公告)日：2023-08-24
申请号：US18311107
申请日：2023-05-02
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: G06F3/01 , G06F3/04815
CPC classification number: G06F3/013 , G06F3/04815
Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.
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公开(公告)号：US20230249354A1
公开(公告)日：2023-08-10
申请号：US18187612
申请日：2023-03-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC classification number: B25J9/1697 , B25J9/1671 , B25J9/1692 , G05B19/4202 , A61B90/36 , A61B34/25 , A61B90/361 , A61B34/30 , A61B34/37 , B25J9/1666 , A61B90/37 , B25J9/1689 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , A61B34/20
Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.
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公开(公告)号：US20220354603A1
公开(公告)日：2022-11-10
申请号：US17861530
申请日：2022-07-11
Inventor： Christopher J. Hasser , Russell H. Taylor , Joshua Leven , Michael Choti
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US11259870B2
公开(公告)日：2022-03-01
申请号：US15725271
申请日：2017-10-04
Inventor： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC: A61B1/00 , A61B34/10 , A61B8/12 , A61B8/00 , A61B34/00 , A61B34/37 , A61B34/30 , A61B17/00 , A61B90/00
Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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公开(公告)号：US20210256749A1
公开(公告)日：2021-08-19
申请号：US17213924
申请日：2021-03-26
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
Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.
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Patent Agency Ranking
公开(公告)号：US20200368915A1
公开(公告)日：2020-11-26
申请号：US16932373
申请日：2020-07-17
Applicant: Intuitive Surgical Operations, Inc
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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公开(公告)号：US10603127B2
公开(公告)日：2020-03-31
申请号：US15413378
申请日：2017-01-23
Inventor： Christopher J. Hasser , Russell H. Taylor , Joshua Leven , Michael Choti
IPC: A61B34/37 , A61B8/00 , A61B34/00 , A61B90/00 , A61B8/12 , A61B34/30 , A61B1/313 , A61B34/10 , A61B17/00
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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38.发明授权公开(公告)号：US09795446B2
公开(公告)日：2017-10-24
申请号：US13775574
申请日：2013-02-25
Inventor： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC: G06F3/048 , A61B19/00 , A61B8/12 , A61B1/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B8/00 , A61B17/00 , A61B90/00
CPC classification number: A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
Abstract: In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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公开(公告)号：US09649172B2
公开(公告)日：2017-05-16
申请号：US15141691
申请日：2016-04-28
Applicant: Intuitive Surgical Operations, Inc.
IPC: G05B15/00 , G05B19/00 , A61B34/20 , A61B34/30 , G01L1/24 , G02B6/26 , A61B18/00 , G01B11/16 , G02B6/12 , G02B6/32 , A61B90/00 , A61B17/00
CPC classification number: A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
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公开(公告)号：US20170128145A1
公开(公告)日：2017-05-11
申请号：US15413378
申请日：2017-01-23
Inventor： Christopher J. Hasser , Russell H. Taylor , Joshua Leven , Michael Choti
CPC classification number: A61B34/37 , A61B1/3132 , A61B8/00 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/03 , A61B90/361 , A61B90/37 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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