公开(公告)号：US20210256749A1

公开(公告)日：2021-08-19

申请号：US17213924

申请日：2021-03-26

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06T11/60 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42 ,  B25J9/16

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

公开(公告)号：US10929656B2

公开(公告)日：2021-02-23

申请号：US16527413

申请日：2019-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao

IPC: G06K9/00 ,  G06T19/00

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

公开(公告)号：US10881473B2

公开(公告)日：2021-01-05

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. Dimaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B17/00

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20200368915A1

公开(公告)日：2020-11-26

申请号：US16932373

申请日：2020-07-17

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 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  A61B34/00

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. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US20200246094A1

公开(公告)日：2020-08-06

申请号：US16855144

申请日：2020-04-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B90/94 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00

Abstract: A system comprises a teleoperational assembly including an operator control system and manipulators configured for teleoperation by the operator control system. A first manipulator controls a first medical instrument in a surgical environment and a second manipulator controls an imaging instrument. The system also comprises a processing unit to display an image of a field of view of the surgical environment captured by the imaging instrument and determine a position of a distal portion of the first medical instrument in an image coordinate space. The processing unit determines an initial position for a first badge associated with the distal portion of the first medical instrument and determine a badge placement boundary for the image of the field of view. The processing unit also adjusts the first badge from the initial position to a display position within the badge placement boundary of the image of the field of view.

公开(公告)号：US10709515B2

公开(公告)日：2020-07-14

申请号：US16002509

申请日：2018-06-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz

IPC: A61B34/32 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/02 ,  B25J9/16 ,  A61B90/00 ,  A61B90/50

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.

公开(公告)号：US20200214777A1

公开(公告)日：2020-07-09

申请号：US16791046

申请日：2020-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B17/29 ,  A61B34/00 ,  A61B90/94 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  B25J13/06 ,  B25J19/02

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, determine association information about the manipulators and the operator control system, and display badges near the medical instruments in the image of the field of view of the surgical environment. The badges display the association information for the medical instrument they appear associated with.

公开(公告)号：US20200163731A1

公开(公告)日：2020-05-28

申请号：US16630134

申请日：2018-07-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Pushkar Hingwe

IPC: A61B34/35 ,  A61B1/045 ,  A61B1/00 ,  A61B34/00

Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

公开(公告)号：US20200054406A1

公开(公告)日：2020-02-20

申请号：US16661649

申请日：2019-10-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B46/10 ,  A61B50/13 ,  A61B50/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/13

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US20190388168A1

公开(公告)日：2019-12-26

申请号：US16558918

申请日：2019-09-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/94

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the image's coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the image's coordinate space based on the display factor.