公开(公告)号：US10944919B2

公开(公告)日：2021-03-09

申请号：US16697507

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N5/265 ,  H04N13/257 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  H04N9/04 ,  G06T3/40 ,  H04N5/225

Abstract: An exemplary system includes a scene processing module configured to receive a single frame comprising a first set of pixel data comprising a first combined scene including a fluorescence scene component and a second set of pixel data comprising a second combined scene including a combination of a visible color component scene and the fluorescence scene component. The scene processing module is further configured to extract a display fluorescence scene component from the first combined scene and extract a display visible scene component from the second combined scene. The system further includes a display unit configured to generate, based on the display fluorescence scene component and the display visible scene component, a displayed scene.

公开(公告)号：US10932868B2

公开(公告)日：2021-03-02

申请号：US14911523

申请日：2014-08-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Todd R. Solomon ,  Anthony K. McGrogan ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B17/00

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US10932867B2

公开(公告)日：2021-03-02

申请号：US14911233

申请日：2014-08-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William J. Park

IPC: A61B34/30 ,  A61B17/00 ,  A61B18/00 ,  A61B18/14

Abstract: A surgical instrument (203) includes a reusable instrument portion (204) and a disposable tip assembly (205). The disposable tip assembly (205) includes an end effector assembly (206) that in turn includes an end effector. The disposable tip assembly (205) also includes a locking tip cover (410) that locks the disposable tip assembly (205) to a lock interface element (448B) of a tip interface (245) of the reusable instrument portion (204). To facilitate mounting the disposable tip assembly (205) on the tip interface (245) of the reusable instrument portion (204), the disposable tip assembly (205) includes a first quick connect/disconnect element (409) and the tip interface (245) includes a second quick connect/disconnect element (447). The second quick connect/disconnect element (447) is coupled to a tendon (452). The tendon (452) is also coupled to an actuator assembly that provides forces that push and pull (push/pull) the tendon.

公开(公告)号：US10929656B2

公开(公告)日：2021-02-23

申请号：US16527413

申请日：2019-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao

IPC: G06K9/00 ,  G06T19/00

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

公开(公告)号：US10925586B2

公开(公告)日：2021-02-23

申请号：US16292104

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peter M. Herzlinger ,  Govinda Payyavula ,  Brian E. Miller

IPC: A61B17/00 ,  G06F3/01 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  G06F3/0338 ,  G06F3/041 ,  A61B34/00 ,  A61B90/60 ,  G06F3/0485 ,  A61B90/50

Abstract: An endoscope control system comprises one or more sensors located in a headrest and configured to detect an input at the headrest. The one or more sensors include at least one of an array of pressure sensors positioned adjacent to a forehead rest surface, a joystick controller mounted in the headrest, or a slip plate mounted to the headrest. The endoscope control system further comprises an endoscope control module configured to receive one or more sensor signals from the sensors indicating movement of the headrest or pressure applied to the headrest and providing an indication of intended movement of an image provided by an endoscope. The endoscope control system further comprises an endoscope manipulation module configured to receive the indication of intended movement from the endoscope control module and generate one or more actuation signals to activate one or more actuators configured to cause the intended movement of the image.

公开(公告)号：US10918449B2

公开(公告)日：2021-02-16

申请号：US15939705

申请日：2018-03-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  G03B5/02 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US10912523B2

公开(公告)日：2021-02-09

申请号：US14665650

申请日：2015-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Donhowe ,  Tao Zhao ,  Timothy Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.

公开(公告)号：US20210030494A1

公开(公告)日：2021-02-04

申请号：US17075163

申请日：2020-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/34 ,  A61B34/30 ,  A61B34/10 ,  A61B17/00 ,  A61N5/10

Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.

公开(公告)号：US20210030491A1

公开(公告)日：2021-02-04

申请号：US17016340

申请日：2020-09-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.

公开(公告)号：US20210030260A1

公开(公告)日：2021-02-04

申请号：US16928173

申请日：2020-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. JULIAN ,  Amir BELSON ,  Aaron W. BROWN ,  Mark HARASYM ,  Marc S. KREIDLER ,  Robert M. OHLINE ,  Scott J. REINER ,  Enrique ROMO ,  Charles E. SWINEHART ,  Katherine WHITIN

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.