公开(公告)号：US20240138924A1

公开(公告)日：2024-05-02

申请号：US18280012

申请日：2022-03-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： A. Jonathan McLeod ,  Mahdi Azizian ,  Alan S Bradley ,  Christopher R. Burns ,  Wen Pei Liu

IPC: A61B34/20 ,  G16H40/20 ,  H04W76/10

CPC classification number: A61B34/20 ,  G16H40/20 ,  H04W76/10 ,  A61B2034/2048 ,  A61B2034/2063 ,  A61B2034/2072

Abstract: A first ultrasonic beacon transmission includes a first pilot signal and a first encoded information signal. An apparatus may detect the first pilot signal and decode, based on the first pilot signal, the first encoded information signal to identify a medical system associated with the first ultrasonic beacon transmission. Based on the first encoded information signal, the apparatus may enter into a first pairing state in which the apparatus is communicatively paired with the medical system. While the apparatus is operating in the first pairing state and within a threshold time of entering the first pairing state, the apparatus may detect a second pilot signal included in a second ultrasonic beacon transmission, which also includes a second encoded information signal. Based on the detection of the second pilot signal within the threshold time, the apparatus may continue operating in the first pairing state without decoding the second encoded information signal.

公开(公告)号：US11955246B2

公开(公告)日：2024-04-09

申请号：US16627171

申请日：2018-06-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian

IPC: G16H50/50 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  G06T15/80 ,  G06T17/20

CPC classification number: G16H50/50 ,  A61B5/055 ,  A61B6/032 ,  A61B8/485 ,  G06T15/80 ,  G06T17/20 ,  G06T2210/41

Abstract: A method is provided to model a 3D structure comprising: producing a surface mesh representation of the 3D structure; producing a volume mesh representation of the 3D structure based upon the surface mesh; sorting vertices of the volume mesh into a first sub-list that includes only surface vertices and a second sub-list that includes only internal vertices; applying shading to the surface mesh by accessing only surface vertices in the first sub-list; determining deformation of the volume mesh by accessing both surface vertices in the first sub-list and internal vertices in the second sub-list.

公开(公告)号：US20230277035A1

公开(公告)日：2023-09-07

申请号：US17928493

申请日：2021-05-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel Proksch ,  Mahdi Azizian ,  Pourya Shirazian

IPC: A61B1/00 ,  G06T11/00 ,  G06T7/70

CPC classification number: A61B1/0005 ,  G06T7/70 ,  G06T11/00 ,  G06T2207/10068 ,  G06T2207/30004 ,  G06T2210/41

Abstract: An illustrative system may be configured to obtain a visual image of an anatomical scene that includes an imaging probe and to augment the visual image with a synthetic element that indicates, within the visual image, an area of the anatomical scene being imaged by the imaging probe. The synthetic element may include spatial markers. The visualization system may be further configured to direct a display device to display the augmented image. The visualization system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.

公开(公告)号：US20220409324A1

公开(公告)日：2022-12-29

申请号：US17781315

申请日：2020-12-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: A61B90/30

Abstract: An exemplary system is configured to detect user input directing a telestration element to be drawn within an image depicting a surface within a scene; render, based on depth data representative of a depth map for the scene and within a three dimensional (3D) image depicting the surface within the scene, the telestration element; record a 3D position within the scene at which the telestration element is rendered within the 3D image; detect a telestration termination event that removes the telestration element from being rendered within the 3D image; and indicate, subsequent to the telestration termination event, an option to again render the telestration element at the 3D position.

公开(公告)号：US20220409301A1

公开(公告)日：2022-12-29

申请号：US17785189

申请日：2020-12-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wen Pei Liu ,  Maximilian H. Allan ,  Mahdi Azizian ,  Azad Shademan

IPC: A61B34/00 ,  A61B34/32 ,  A61B17/00

Abstract: An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to: detect an intent of a user of a computer-assisted surgical system to use a robotic instrument attached to the computer-assisted surgical system to interact with a target object while the target object is located in a surgical space; determine a pose of the target object in the surgical space; and perform, based on the detected intent of the user to interact with the target object and the determined pose of the target object in the surgical space, an operation with respect to the target object.

公开(公告)号：US20220286801A1

公开(公告)日：2022-09-08

申请号：US17636496

申请日：2020-08-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: H04S7/00 ,  G16H40/63 ,  A61B34/35

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.

公开(公告)号：US20220218435A1

公开(公告)日：2022-07-14

申请号：US17615001

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Daniel Proksch

IPC: A61B90/00 ,  G06T15/20 ,  A61B34/00

Abstract: An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging modality. The integrated representation of the surgical space as captured by the second imaging modality may be selectively movable and may be generated based on first imagery of the surgical space captured by the first imaging modality and second imagery of the surgical space captured by the second imaging modality in a manner that provides a visually realistic appearance of depth.

公开(公告)号：US20220215539A1

公开(公告)日：2022-07-07

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

IPC: G06T7/00 ,  G06V10/26 ,  G06V10/10 ,  G06V10/25 ,  G06T7/11 ,  A61B90/00

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.

公开(公告)号：US20210315650A1

公开(公告)日：2021-10-14

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

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：US10729506B2

公开(公告)日：2020-08-04

申请号：US16261122

申请日：2019-01-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: A61B34/00 ,  G06F3/01 ,  A61B18/00

Abstract: Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.