公开(公告)号：US20190282312A1

公开(公告)日：2019-09-19

申请号：US16349202

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/00 ,  A61B34/10

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

公开(公告)号：US20190282311A1

公开(公告)日：2019-09-19

申请号：US16349196

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/20 ,  A61B34/00 ,  A61B34/10

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.

公开(公告)号：US20190254759A1

公开(公告)日：2019-08-22

申请号：US16347298

申请日：2017-11-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian

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

Abstract: The technology described in this document can be embodied in a method that includes operating a surgical system to perform a surgical process, the surgical system including a display device, and receiving, at one or more processing devices, data from multiple data sources. The method also includes determining a current phase of the surgical process, and displaying, on the display device, visual representations corresponding to the data from a first set of the multiple data sources in a first arrangement within a display region of the display device. At least one of the first set of the multiple data sources and the first arrangement is associated with the current phase of the surgical process.

公开(公告)号：US20180235565A1

公开(公告)日：2018-08-23

申请号：US15956463

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Holger Kunze ,  Lutz Blohm

IPC: A61B6/00 ,  G16H40/63 ,  A61B6/10 ,  B25J9/16 ,  A61B34/20 ,  G05B19/4061

CPC classification number: A61B6/547 ,  A61B6/102 ,  A61B6/4405 ,  A61B6/4441 ,  A61B34/20 ,  B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G16H40/63

Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.

公开(公告)号：US20140163736A1

公开(公告)日：2014-06-12

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。

公开(公告)号：US12161512B2

公开(公告)日：2024-12-10

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 ,  A61B34/00 ,  G06T15/20

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：US12133702B2

公开(公告)日：2024-11-05

申请号：US16349196

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  G16H20/40 ,  G16H40/67 ,  A61B17/00 ,  A61B18/00 ,  A61B90/00

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.

公开(公告)号：US20240349993A1

公开(公告)日：2024-10-24

申请号：US18685892

申请日：2022-09-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Maximilian H. Allan ,  Mahdi Azizian ,  Thomas Kurmann

IPC: A61B1/00 ,  A61B1/12

CPC classification number: A61B1/00193 ,  A61B1/000094 ,  A61B1/000096 ,  A61B1/126

Abstract: An illustrative image processing system is configured to apply. as an input to a processing module. a first video stream generated by an imaging device during a medical procedure. The processing module is configured to generate. based on the input. output data used to perform an image-based operation associated with the medical procedure. The image processing system is further configured to detect, while the first video stream is being applied to the processing module. a deficiency associated with the first video stream and apply. as the input to the processing module and based on the detecting of the deficiency. a second video stream generated by the imaging device during the medical procedure.

公开(公告)号：US20230218356A1

公开(公告)日：2023-07-13

申请号：US18153193

申请日：2023-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Simon P. DiMaio

IPC: A61B34/20 ,  A61B1/00

CPC classification number: A61B34/20 ,  A61B1/00009 ,  A61B2034/2051

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

公开(公告)号：US11583351B2

公开(公告)日：2023-02-21

申请号：US16503367

申请日：2019-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amy E. Kerdok ,  Margaret M. Nixon ,  Douglas S. Langley ,  Wesley Swanson ,  Mahdi Azizian

IPC: A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  A61B90/57

Abstract: A system and method includes deploying first and second articulated arms of a computer-assisted device so that a first attachment point on the first articulated arm and a second attachment point of the second articulated arm are positioned and oriented relative to each other based on a size and a shape of an arm stabilizer; stabilizing and reducing vibration of the first and second articulated arms by attaching the arm stabilizer to the first and second attachment points; after the stabilizing and reducing vibration of the first and second articulated arms, positioning and orienting a tool with the first articulated arm; and after the positioning and orienting of the tool, operating the tool. In some embodiments, the tool is a medical tool. In some embodiments, the system and method further include positioning and orienting a second tool with the second articulated arm and operating the second tool.