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51.发明授权公开(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
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.
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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.
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公开(公告)号：US11259870B2
公开(公告)日：2022-03-01
申请号：US15725271
申请日：2017-10-04
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.
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54.发明申请公开(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
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.
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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
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.
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Patent Agency Ranking
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
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.
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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
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.
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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
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.
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公开(公告)号：US20200253673A1
公开(公告)日：2020-08-13
申请号：US16626001
申请日：2018-06-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC,
Inventor： Mahdi Azizian , Simon P. DiMaio
IPC: A61B34/35
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.
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公开(公告)号：US20190354754A1
公开(公告)日：2019-11-21
申请号：US16527413
申请日：2019-07-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
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.
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