公开(公告)号：US20230307121A1

公开(公告)日：2023-09-28

申请号：US18325698

申请日：2023-05-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L67/104 ,  G16H20/40 ,  G16H40/67

CPC classification number: G16H40/63 ,  A61F2/60 ,  G05B15/02 ,  G06F13/37 ,  G16H20/30 ,  G16H20/40 ,  G16H40/67 ,  H04L67/1046

Abstract: A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.

公开(公告)号：US20230286147A1

公开(公告)日：2023-09-14

申请号：US18313230

申请日：2023-05-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  A61B34/37

CPC classification number: B25J9/1653 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1641 ,  B25J9/1664 ,  B25J9/1689 ,  B25J9/1694 ,  G05B2219/37388

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a second joint, and a first link. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data, and generate a second joint state estimate of the second joint. The processing unit is further configured to apply a first weight to the first joint state estimate to generate a first weighted joint state estimate, apply a second weight to the second joint state estimate to generate a second weighted joint state estimate, and control the first and second joints based on the first weighted joint state estimate and second weighted joint state estimate.

公开(公告)号：US11747895B2

公开(公告)日：2023-09-05

申请号：US14210840

申请日：2014-03-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/048 ,  G06F3/01 ,  G06F3/04815

CPC classification number: G06F3/013 ,  G06F3/04815

Abstract: A medical robotic system includes a viewer, a gaze tracker, and a processor programmed to: draw an area or volume defining shape overlaid on an image based on the tracked gaze point after the user has gazed on the tracked gaze point for a programmed period of time; in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape and constrain movement of a robotic tool; map points of the robotic tool in a tool reference frame to a viewer reference frame; determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points; display an object including text identifying the robotic tool, overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object; and perform an action indicated by the object.

公开(公告)号：US20230266823A1

公开(公告)日：2023-08-24

申请号：US18311107

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/01 ,  G06F3/04815

CPC classification number: G06F3/013 ,  G06F3/04815

Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.

公开(公告)号：US20230249354A1

公开(公告)日：2023-08-10

申请号：US18187612

申请日：2023-03-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

CPC classification number: B25J9/1697 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  A61B90/36 ,  A61B34/25 ,  A61B90/361 ,  A61B34/30 ,  A61B34/37 ,  B25J9/1666 ,  A61B90/37 ,  B25J9/1689 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  A61B34/20

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

公开(公告)号：US11710561B2

公开(公告)日：2023-07-25

申请号：US17412812

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, inc.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L67/104 ,  G16H20/40 ,  G16H40/67

CPC classification number: G16H40/63 ,  A61F2/60 ,  G05B15/02 ,  G06F13/37 ,  G16H20/30 ,  G16H20/40 ,  G16H40/67 ,  H04L67/1046

Abstract: A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.

公开(公告)号：US20220227000A1

公开(公告)日：2022-07-21

申请号：US17589672

申请日：2022-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US11259870B2

公开(公告)日：2022-03-01

申请号：US15725271

申请日：2017-10-04

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

Inventor： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC: A61B1/00 ,  A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

公开(公告)号：US20210391070A1

公开(公告)日：2021-12-16

申请号：US17412812

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L29/08 ,  G16H20/40 ,  G16H40/67

Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

公开(公告)号：US20210354286A1

公开(公告)日：2021-11-18

申请号：US17287430

申请日：2019-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Ambarish G. Goswami ,  Dinesh Rabindran ,  Changyeob Shin ,  Tao Zhao

IPC: B25J9/02 ,  B25J9/16 ,  B25J9/00 ,  B25J15/00

Abstract: A method is performed by a computing system. The method includes receiving image data from an imaging device, and determining, using the image data, a plurality of image-space tools, each image-space tool associated with a tool of a plurality of tools, each tool controlled by a manipulator of a plurality of manipulators. The method further includes determining a first correspondence between a first image-space tool of the plurality of image-space tools and a first tool of the plurality of tools based on a first disambiguation setting associated with the first tool.