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    SYSTEM AND METHOD FOR AN ARTICULATED ARM BASED TOOL GUIDE
    41.
    发明申请
    SYSTEM AND METHOD FOR AN ARTICULATED ARM BASED TOOL GUIDE 审中-公开

    公开(公告)号：US20170333155A1

    公开(公告)日：2017-11-23

    申请号：US15522657

    申请日：2015-10-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorge

    IPC: A61B90/50 ,  A61B34/20 ,  A61B90/11 ,  A61B34/00

    CPC classification number: A61B90/50 ,  A61B34/20 ,  A61B34/25 ,  A61B34/70 ,  A61B90/11 ,  B25J9/009 ,  B25J9/1682

    Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
    42.
    发明授权
    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms 有权
    图像捕获装置和可操纵装置可移动臂的受控运动期间的碰撞避免

    公开(公告)号：US09259282B2

    公开(公告)日：2016-02-16

    申请号：US14101769

    申请日：2013-12-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

    Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS
    43.
    发明申请
    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-公开
    图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免

    公开(公告)号：US20160008078A1

    公开(公告)日：2016-01-14

    申请号：US14862692

    申请日：2015-09-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

    Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

    Systems and methods for detecting tissue contact by an ultrasound probe
    45.
    发明授权
    Systems and methods for detecting tissue contact by an ultrasound probe 有权

    公开(公告)号：US12285288B2

    公开(公告)日：2025-04-29

    申请号：US17611602

    申请日：2020-05-29

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: A61B8/00 ,  A61B8/12

    Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

    System and method for an articulated arm based tool guide
    46.
    发明授权
    System and method for an articulated arm based tool guide 有权

    公开(公告)号：US12167943B2

    公开(公告)日：2024-12-17

    申请号：US18308992

    申请日：2023-04-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

    IPC: A61B90/50 ,  A61B1/00 ,  A61B34/00 ,  A61B34/20 ,  A61B90/11 ,  B25J9/00 ,  B25J9/16

    Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.

    Composite medical imaging systems and methods
    47.
    发明授权
    Composite medical imaging systems and methods 有权

    公开(公告)号：US12165317B2

    公开(公告)日：2024-12-10

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

    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.

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