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    SYSTEMS AND A METHOD FOR DIRECTING AN IMAGING DEVICE TO DETECT FLOURESCENCE AND FOR DETERMINING A LIFETIME OF THE FLOURESCENCE
    53.
    发明申请
    SYSTEMS AND A METHOD FOR DIRECTING AN IMAGING DEVICE TO DETECT FLOURESCENCE AND FOR DETERMINING A LIFETIME OF THE FLOURESCENCE 有权

    公开(公告)号：US20220280042A1

    公开(公告)日：2022-09-08

    申请号：US17635988

    申请日：2020-08-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Alexander L. Antaris ,  Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

    IPC: A61B5/00 ,  A61B34/00 ,  A61B90/00

    Abstract: An exemplary fluorescence imaging control system may direct, during a surgical procedure performed with a computer-assisted surgical system, an illumination source included in the computer-assisted surgical system to illuminate a scene associated with the surgical procedure with fluorescence excitation illumination configured to excite a fluorophore present at the scene and direct an imaging device included in the computer-assisted surgical system to detect, during the surgical procedure, fluorescence emitted by the fluorophore in response to excitation of the fluorophore by the fluorescence excitation illumination. The fluorescence imaging control system may determine, based on the detected fluorescence, a lifetime of the fluorescence and determine, based on the determined lifetime of the fluorescence, an identity of the fluorophore. The fluorescence imaging control system may configure, during the surgical procedure and based on the determined identity of the fluorophore, operation of the computer-assisted surgical system.

    METHODS AND DEVICES FOR TELE-SURGICAL TABLE REGISTRATION
    54.
    发明申请
    METHODS AND DEVICES FOR TELE-SURGICAL TABLE REGISTRATION 有权

    公开(公告)号：US20210378770A1

    公开(公告)日：2021-12-09

    申请号：US17410725

    申请日：2021-08-24

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan M. Sorger

    IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  G16H40/63 ,  A61B90/98 ,  A61G13/02

    Abstract: A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.

    System and method for dynamic virtual collision objects
    56.
    发明授权
    System and method for dynamic virtual collision objects 有权

    公开(公告)号：US10849591B2

    公开(公告)日：2020-12-01

    申请号：US15956463

    申请日：2018-04-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  SIEMENS HEALTHCARE GMBH

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

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

    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.

    SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION
    59.
    发明申请
    SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION 审中-公开

    公开(公告)号：US20190387974A1

    公开(公告)日：2019-12-26

    申请号：US16562121

    申请日：2019-09-05

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Jonathan M. Sorger

    IPC: A61B5/00

    Abstract: A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.

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