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    SYSTEM AND METHOD FOR AN ARTICULATED ARM BASED TOOL GUIDE
    61.
    发明申请
    SYSTEM AND METHOD FOR AN ARTICULATED ARM BASED TOOL GUIDE 审中-公开

    公开(公告)号：US20170333155A1

    公开(公告)日：2017-11-23

    申请号：US15522657

    申请日：2015-10-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorge

    IPC: A61B90/50 ,  A61B34/20 ,  A61B90/11 ,  A61B34/00

    CPC classification number: A61B90/50 ,  A61B34/20 ,  A61B34/25 ,  A61B34/70 ,  A61B90/11 ,  B25J9/009 ,  B25J9/1682

    Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
    62.
    发明授权
    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms 有权
    图像捕获装置和可操纵装置可移动臂的受控运动期间的碰撞避免

    公开(公告)号：US09259282B2

    公开(公告)日：2016-02-16

    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。

    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS
    63.
    发明申请
    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-公开
    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：US20160008078A1

    公开(公告)日：2016-01-14

    申请号：US14862692

    申请日：2015-09-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00 ,  B25J9/16

    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。

    SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL
    64.
    发明申请
    SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL 有权

    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.

    COMPOSITE MEDICAL IMAGING SYSTEMS AND METHODS
    66.
    发明申请
    COMPOSITE MEDICAL IMAGING SYSTEMS AND METHODS 有权

    公开(公告)号：US20250054147A1

    公开(公告)日：2025-02-13

    申请号：US18930167

    申请日：2024-10-29

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Daniel Proksch ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Pourya Shirazian

    IPC: G06T7/00 ,  A61B90/00 ,  G06T7/11 ,  G06V10/10 ,  G06V10/25 ,  G06V10/26

    Abstract: A first display image includes a first captured image captured by an imaging device and showing a first view of a surgical area, which shows surface anatomy located at the surgical area and an object located at the surgical area, and an augmentation region. The augmentation region occludes at least a portion of the first view. Subsequent to capture of the first captured image, the system detects an overlap between the object and the augmentation region and determines whether the overlap is due to motion of the object. The system directs the display device to display a second display image including a second captured image captured by the imaging device. Inclusion of the augmentation region in the second display image and/or an extent of the occlusion within the overlap in the second display image is based on the determination whether the overlap is due to motion of the object.

    SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL
    70.
    发明公开
    SYSTEMS AND METHODS FOR TAG-BASED INSTRUMENT CONTROL 审中-公开

    公开(公告)号：US20230225804A1

    公开(公告)日：2023-07-20

    申请号：US18010560

    申请日：2021-06-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian

    IPC: A61B34/00

    CPC classification number: A61B34/25 ,  A61B2034/254

    Abstract: A system may render, within a graphical user interface associated with a computer-assisted medical system, a graphical tag element associated with a physical location within a region of interest. The system may detect a user interaction with the graphical tag element. The system may further direct, in response to the detecting of the user interaction with the graphical tag element, the computer-assisted medical system to adjust a pose of an instrument based on the physical location within the region of interest.

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