公开(公告)号：US20200323423A1

公开(公告)日：2020-10-15

申请号：US16859867

申请日：2020-04-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  William C. Nowlin

IPC: A61B1/045 ,  A61B34/32 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

Abstract: A robotic system includes a display to display an image captured by an image capture device, a linkage movably supporting the display, the linkage including a multitude of links, a multitude of joints coupling the multitude of links, and a multitude of sensors configured to sense configuration information of the linkage. A physical movement of the display corresponds to a configuration change of the linkage. The robotic system further includes a processor coupled to the multitude of sensors. The processor is configured to obtain sensor signals from the multitude of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals.

公开(公告)号：US20200246105A1

公开(公告)日：2020-08-06

申请号：US16757089

申请日：2018-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Marc Levesque ,  Brian D. Hoffman ,  Theodore W. Rogers

IPC: A61B90/35 ,  A61B17/34 ,  A61B34/35 ,  A61B1/00 ,  A61B1/04

Abstract: A cannula can include a body with proximal and distal portions and a lumen extending through the body, the distal portion configured for insertion into a patient anatomy. An energy interface can be positioned in the proximal portion, and a light emitting device can be coupled to the energy interface and configured to emit light from the body. A system can include the cannula, a support structure, and an energy source. The support structure can include another energy interface that transfers energy to/from the energy interface. The energy source can be coupled to the cannula via the energy interfaces, where the light emitting device emits light from the body in response to energy received from the energy source via the energy interfaces. One or more cannulae can be used to illuminate the patient anatomy.

公开(公告)号：US20200085520A1

公开(公告)日：2020-03-19

申请号：US16689949

申请日：2019-11-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US20200078108A1

公开(公告)日：2020-03-12

申请号：US16687549

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B34/30 ,  A61B1/00 ,  A61B90/30 ,  A61B1/045 ,  A61B1/06

Abstract: A system includes a controller communicatively coupled to an illuminator and to a camera configured to capture a scene including tissue. The controller may change the output optical power of the illuminator from a first output optical power to a second output optical power so that a subsequently captured frame is captured by the camera from reflected light, the reflected light being light from the illuminator having the second output optical power prior to being reflected. The controller may determine that an endoscope contacted the tissue if the change of the output optical power of the illuminator results in a change of a reflected luminance that is less than a predetermined threshold, the change of the reflected luminance being a change from a first reflected luminance for the first output optical power to a second reflected luminance for the second output optical power.

公开(公告)号：US20200077870A1

公开(公告)日：2020-03-12

申请号：US16682940

申请日：2019-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  H04N9/04 ,  H04N5/235 ,  G06T7/90 ,  A61B90/00 ,  A61B34/35 ,  A61B1/06 ,  A61B90/30

Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.

公开(公告)号：US10512512B2

公开(公告)日：2019-12-24

申请号：US15126960

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/06 ,  A61B34/30 ,  A61B90/30 ,  A61B90/00

Abstract: Scenes captured with an endoscope (201) of a teleoperated surgical system (200) and displayed on a display unit (251) maintain a consistent brightness even though optical output power of an illuminator (210) changes, and working distance (204) between tissue (203) and the distal tip of the endoscope changes. Teleoperated surgical system (200) also automatically detects when endoscope (201) contacts tissue (203) and adjusts the output optical power of illuminator (210) so that tissue damage does not occur.

公开(公告)号：US20190200848A1

公开(公告)日：2019-07-04

申请号：US16326804

申请日：2017-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Jeffrey M. DiCarlo ,  Brian D. Hoffman ,  William Jason Culman

IPC: A61B1/00 ,  A61B1/06 ,  A61B1/04 ,  G02B27/10 ,  A61B34/35

CPC classification number: A61B1/00193 ,  A61B1/0005 ,  A61B1/00186 ,  A61B1/04 ,  A61B1/042 ,  A61B1/043 ,  A61B1/0638 ,  A61B34/00 ,  A61B34/35 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/301 ,  A61B2090/371 ,  G02B27/1006 ,  G06K9/00

Abstract: A computer-assisted surgical system simultaneously provides visible light and alternate modality images that identify tissue or increase the visual salience of features of clinical interest that a surgeon normally uses when performing a surgical intervention using the computer-assisted surgical system. Hyperspectral light from tissue of interest is used to safely and efficiently image that tissue even though the tissue may be obscured in the normal visible image of the surgical field. The combination of visible and hyperspectral images are analyzed to provide details and information concerning the tissue or other bodily function that were not previously available.

公开(公告)号：US10137575B2

公开(公告)日：2018-11-27

申请号：US15629533

申请日：2017-06-21

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: A61B17/00 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  G06F19/00 ,  A61B34/20

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US20180324414A1

公开(公告)日：2018-11-08

申请号：US16034004

申请日：2018-07-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/366 ,  H04N13/156 ,  A61B34/37 ,  A61B90/00 ,  H04N13/383 ,  A61B34/30 ,  A61B1/00 ,  H04N13/296 ,  A61B1/04 ,  A61B17/00

CPC classification number: H04N13/366 ,  A61B1/00039 ,  A61B1/00193 ,  A61B1/042 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2090/371 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383

Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US20180185110A1

公开(公告)日：2018-07-05

申请号：US15866858

申请日：2018-01-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  G09B23/28 ,  A61B1/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.