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公开(公告)号：US10729506B2
公开(公告)日：2020-08-04
申请号：US16261122
申请日：2019-01-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian
Abstract: Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.
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公开(公告)号：US20190282312A1
公开(公告)日：2019-09-19
申请号：US16349202
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Anthony M. Jarc , Henry C. Lin , May Quo-Mei Liu , Ian E. McDowall , Brent Tokarchuk
Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
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公开(公告)号：US20190282311A1
公开(公告)日：2019-09-19
申请号：US16349196
申请日：2017-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Paul W. Mohr
Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
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公开(公告)号：US20190254759A1
公开(公告)日：2019-08-22
申请号：US16347298
申请日：2017-11-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian
Abstract: The technology described in this document can be embodied in a method that includes operating a surgical system to perform a surgical process, the surgical system including a display device, and receiving, at one or more processing devices, data from multiple data sources. The method also includes determining a current phase of the surgical process, and displaying, on the display device, visual representations corresponding to the data from a first set of the multiple data sources in a first arrangement within a display region of the display device. At least one of the first set of the multiple data sources and the first arrangement is associated with the current phase of the surgical process.
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公开(公告)号：US20180235565A1
公开(公告)日：2018-08-23
申请号：US15956463
申请日：2018-04-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC classification number: A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G16H40/63
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.
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Patent Agency Ranking
66.发明申请COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 有权图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免公开(公告)号：US20140163736A1
公开(公告)日：2014-06-12
申请号：US14101769
申请日：2013-12-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan Sorger , Lutz Blohm , Christine Niebler , Holger Kunze
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B19/2203 , A61B34/20 , A61B90/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2090/376 , A61B2090/378 , B25J9/1676 , B25J9/1697 , Y10S901/02 , Y10S901/47
Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.
Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。
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公开(公告)号：US20250152297A1
公开(公告)日：2025-05-15
申请号：US19025799
申请日：2025-01-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Karen C. Brandao , Mahdi Azizian , Simon P. DiMaio , Brian D. Hoffman , Jonathan M. Sorger
Abstract: A method is provided to produce a multi-modality image of a surgical scene comprising: capture light reflected from the surgical scene; producing first image information corresponding to a first modality image; producing second image information corresponding to a second modality image; selecting a portion of the second image modality based at least in part upon anatomical structure information included within the selected portion; and producing simultaneously within a display at least a portion of the first modality image of the surgical scene and the selected portion of the second modality image.
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公开(公告)号：US12285153B2
公开(公告)日：2025-04-29
申请号：US17928493
申请日：2021-05-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel Proksch , Mahdi Azizian , Pourya Shirazian
Abstract: An illustrative system may be configured to obtain a visual image of an anatomical scene that includes an imaging probe and to augment the visual image with a synthetic element that indicates, within the visual image, an area of the anatomical scene being imaged by the imaging probe. The synthetic element may include spatial markers. The visualization system may be further configured to direct a display device to display the augmented image. The visualization system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.
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公开(公告)号：US20250082419A1
公开(公告)日：2025-03-13
申请号：US18960191
申请日：2024-11-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Mahdi Azizian
IPC: A61B34/00 , G06F3/0484
Abstract: A system may access medical session data for a medical session and determine, based on the medical session data, that an event occurs within a region of interest associated with the medical session. The medical session includes performance of one or more operations by a computer-assisted medical system. The system may identify a physical location within the region of interest and associated with the event, identify content captured by an imaging device and depicting the physical location when the event occurred, and associate the content with the physical location. After the event occurs, the system may provide a user with access to the content when the physical location is within a field of view of the imaging device.
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公开(公告)号：US12226072B2
公开(公告)日：2025-02-18
申请号：US17638322
申请日：2020-08-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： A. Jonathan McLeod , Mahdi Azizian , Daniel Proksch , Pourya Shirazian
Abstract: An exemplary image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site. The image registration system uses the identified subsurface structure at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. Corresponding systems and methods are also disclosed.
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