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公开(公告)号：US12023803B2
公开(公告)日：2024-07-02
申请号：US17279753
申请日：2019-10-01
发明人： Nicola Diolaiti
CPC分类号： B25J9/065 , A61B34/35 , A61B34/37 , G05B19/4155 , A61B2034/301 , G05B2219/45117
摘要： Systems and methods for controlling an elongate device are provided herein. In some embodiments, a robotic system may comprise a manipulator assembly configured to drive an elongate device and a control device configured to receive user input commanding the elongate device. The robotic system may also comprise a control system communicatively coupled to the manipulator assembly and the control device. The control system may be configured to monitor movement of the elongate device during a plurality of intervals, monitor user input received by the control device during the plurality of intervals, and adjust a property of the elongate device based on at least one of the monitored movement or the monitored user input.
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公开(公告)号：US20240207000A1
公开(公告)日：2024-06-27
申请号：US18599768
申请日：2024-03-08
CPC分类号： A61B34/37 , A61B34/20 , A61B34/74 , A61B34/76 , A61B90/06 , A61B90/37 , H04W12/50 , A61B2034/2048 , A61B2034/2059 , A61B2090/065
摘要： A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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公开(公告)号：US12016644B2
公开(公告)日：2024-06-25
申请号：US18130402
申请日：2023-04-03
发明人： Jeffrey Roh , Justin Esterberg
CPC分类号： A61B34/20 , G06N3/08 , G16H40/60 , A61B2034/2074 , A61B90/361 , G06N20/00
摘要： This invention is a system and method for utilizing artificial intelligence to operate a surgical robot (e.g., to perform a laminectomy), including a surgical robot, an artificial intelligence guidance system, an image recognition system, an image recognition database, and a database of past procedures with sensor data, electronic medical records, and imaging data. The image recognition system may identify the tissue type present in the patient and if it is the desired tissue type, the AI guidance system may remove a layer of that tissue with the end effector on the surgical robot, and have the surgeon define the tissue type if the image recognition system identified the tissue as anything other than the desired tissue type.
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44.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
发明人： Brandon D. Itkowitz , Simon P. Dimaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC分类号： 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
摘要： 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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公开(公告)号：US12011242B2
公开(公告)日：2024-06-18
申请号：US18151185
申请日：2023-01-06
CPC分类号： A61B34/35 , A61B34/00 , A61B34/37 , A61B2017/00477 , A61B2090/064 , A61B2090/371
摘要： Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
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公开(公告)号：US20240196099A1
公开(公告)日：2024-06-13
申请号：US18584185
申请日：2024-02-22
发明人： Zhen He , Jeffrey M. DiCarlo , Heath Feather
IPC分类号： H04N23/73 , H04N23/62 , H04N23/741
CPC分类号： H04N23/73 , H04N23/62 , H04N23/741
摘要： An illustrative apparatus may perform gaze-based auto-exposure management of images. For example, the apparatus may determine, for an image captured by an image capture system, auto-exposure-related characteristics of pixel units into which the image is divided. The apparatus may update, based on the auto-exposure-related characteristics determined for the pixel units and on eye tracking data for a viewer viewing the image, one or more auto-exposure parameters for use by the image capture system to capture an additional image within an image sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of images are also disclosed.
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公开(公告)号：US20240189051A1
公开(公告)日：2024-06-13
申请号：US18286623
申请日：2022-04-11
发明人： Goran Lynch , Sean Duffy , Will Valladao , Amin Zeiaee
CPC分类号： A61B34/37 , A61B34/35 , A61B2034/302
摘要： A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.
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公开(公告)号：US20240189027A1
公开(公告)日：2024-06-13
申请号：US18536539
申请日：2023-12-12
发明人： Serena Wong , Samuel Raybin
IPC分类号： A61B18/18
CPC分类号： A61B18/1815 , A61B2018/00577
摘要： An energy delivery system and methods for an ablation procedure may include a generator configured to generate an electrical signal having an operating frequency for an ablation operation and an ablation probe coupled to the generator and configured to receive the electrical signal from the generator. The ablation probe may include a flexible body portion including an inner conductor, an outer conductor, and a dielectric between the inner and outer conductors. The ablation probe may further include a radiating portion electrically coupled to the inner conductor, where the radiating portion is configured to radiate energy received from the electrical signal. A length of the radiating portion may be between 0.35 and 0.65 times an operating wavelength, where the operating wavelength is dependent on the operating frequency of the electrical signal.
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49.发明公开公开(公告)号：US20240188795A1
公开(公告)日：2024-06-13
申请号：US18286873
申请日：2022-04-19
IPC分类号： A61B1/00 , A61B1/045 , A61B1/06 , H04N23/60 , H04N25/673 , H04N25/677
CPC分类号： A61B1/000095 , A61B1/00114 , A61B1/045 , A61B1/0655 , H04N23/64 , H04N25/673 , H04N25/677
摘要： Systems and methods for reducing noise in a computer-assisted medical system are described herein. In certain illustrative examples, a system may direct an imaging device to capture one or more pseudo dark frame images of an environment of the imaging device. The system may determine a noise pattern within the set of one or more pseudo dark frame images associated with a coupling of the imaging device and an image processing system. They system may process, based on the noise pattern, additional images captured by the imaging device.
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公开(公告)号：US12004827B2
公开(公告)日：2024-06-11
申请号：US17159052
申请日：2021-01-26
发明人： Paul G. Griffiths
IPC分类号： A61B34/37 , A61B34/00 , A61B34/30 , B25J1/02 , B25J3/04 , B25J9/16 , B25J13/02 , B25J19/00 , A61B34/35 , A61B90/50 , B25J9/06
CPC分类号： A61B34/30 , A61B34/76 , A61B34/77 , B25J1/02 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J19/0004 , A61B34/35 , A61B34/37 , A61B2090/508 , B25J9/06
摘要： A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to provide first haptic feedback indicating that the joint is moving in a correct direction when the joint is moving toward a first target position, provide second haptic feedback indicating that the joint is not moving in the correct direction when the joint is moving away from the first target position, and provide third haptic feedback indicating that motion of the joint should stop when the joint is at the first target position.
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