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41.发明申请公开(公告)号：US20170112582A1
公开(公告)日：2017-04-27
申请号：US15399600
申请日：2017-01-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
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42.发明申请Method and System for Hand Presence Detection in a Minimally Invasive Surgical System 审中-公开微创手术系统中手部检测的方法和系统公开(公告)号：US20150080909A1
公开(公告)日：2015-03-19
申请号：US14551495
申请日：2014-11-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
CPC classification number: A61B34/37 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/98 , A61B2017/00207 , A61B2017/00221 , A61B2034/2051 , A61B2034/2055 , A61B2034/741 , A61B2090/3937 , A61B2090/3945 , A61B2090/397 , B25J9/1612 , B25J13/086 , G05B15/02 , Y10S901/02 , Y10S901/46
Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。
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43.发明授权Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权用于远程操作的微创外科手术器械的对准的棘轮公开(公告)号：US08903549B2
公开(公告)日：2014-12-02
申请号：US13839438
申请日：2013-03-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Günter D. Niemeyer , David S. Mintz
CPC classification number: A61B34/37 , A61B34/25 , A61B34/30 , A61B34/35 , A61B90/10 , A61B2017/00725 , A61B2034/305 , B25J3/00 , B25J9/1669 , B25J9/1689 , G05B2219/45117 , Y10S901/27 , Y10S901/41
Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。
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公开(公告)号：US20130204124A1
公开(公告)日：2013-08-08
申请号：US13751462
申请日：2013-01-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Giuseppe Maria Prisco , David Q. Larkin , Simon P. DiMaio , Dorin Panescu
IPC: A61B5/06 , A61B17/3209
CPC classification number: A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。
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公开(公告)号：US12295718B2
公开(公告)日：2025-05-13
申请号：US18154211
申请日：2023-01-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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Patent Agency Ranking
公开(公告)号：US20250134608A1
公开(公告)日：2025-05-01
申请号：US19005692
申请日：2024-12-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Simon P. DiMaio , Gerard J. Labonville , Kollin M. Tierling
IPC: A61B34/35 , A61B1/00 , A61B17/02 , A61B17/068 , A61B17/128 , A61B17/29 , A61B17/32 , A61B17/3201 , A61B18/00 , A61B34/00 , A61B34/37 , A61B90/00 , G05B19/4155 , G16H30/40 , G16H40/67 , H04N23/50 , H04N23/54
Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.
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公开(公告)号：US12213814B2
公开(公告)日：2025-02-04
申请号：US17610376
申请日：2020-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Brandon D. Itkowitz , Omid Mohareri , Dinesh Rabindran
Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.
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48.发明授权公开(公告)号：US12201484B2
公开(公告)日：2025-01-21
申请号：US18449586
申请日：2023-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Paul W. Mohr , Theodore W. Rogers
IPC: A61B90/00 , A61B34/00 , A61B34/35 , G06F3/01 , G06T19/00 , A61B1/00 , A61B17/00 , A61B17/02 , A61B34/10 , A61B90/50
Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.
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公开(公告)号：US20250017673A1
公开(公告)日：2025-01-16
申请号：US18903768
申请日：2024-10-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Paul W. Mohr
IPC: A61B34/35 , A61B17/00 , A61B18/00 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/37 , A61B90/00 , G16H20/40 , G16H40/67
Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
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公开(公告)号：US11992281B2
公开(公告)日：2024-05-28
申请号：US17610348
申请日：2020-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Sophia R. Hannaford , Marisa C. Babb , Simon P. DiMaio , Craig Gotsill , Omid Mohareri , Dinesh Rabindran
CPC classification number: A61B34/32 , A61B34/25 , A61B34/37 , A61B34/70 , A61B50/13 , B25J5/007 , B25J9/0084 , G05D1/0027
Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.
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