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公开(公告)号：US11219385B2
公开(公告)日：2022-01-11
申请号：US16353778
申请日：2019-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Prashant Chopra
Abstract: A medical system comprises an image capture probe having a camera at the probe tip; a sensor system; and a processor configured to: receive an image from the camera when the probe is located within an anatomic region; identify a probe tip position based on information received from the sensor system; identify a tissue structure in the image; define a subregion of a model of the anatomic region, the subregion surrounding the probe tip and including a plurality of virtual tissue structures—a first set of virtual tissue structures is distal of the probe tip; compare the tissue structure to a portion of the plurality of virtual tissue structures to identify a best matched virtual tissue structure; and register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the probe tip with respect to the model.
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公开(公告)号：US20210401508A1
公开(公告)日：2021-12-30
申请号：US17277414
申请日：2019-09-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Energy Cruse, II , Vincent Duindam , Pechin Chien Pau Lo , Jun Ma , Oscar G. Salazar , Bai Wang , Hui Zhang
Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.
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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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公开(公告)号：US11172809B2
公开(公告)日：2021-11-16
申请号：US14181024
申请日：2014-02-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael D. Paris , Lucas Gordon , Tao Zhao , Carol Reiley
Abstract: An anatomical probe system comprises an elongated flexible body and an elongated probe extending within the flexible body. The probe has a distal opening at a distal face of a distal end and includes an outer wall defining a channel, an access port in the outer wall in communication with the channel, a one-way flow controller, and an image capture instrument secured to the outer wall at a location proximal of the distal opening. The access port is spaced proximally of the distal face of the distal end. The one-way flow controller includes a cover configured to move between an open position where the access port is uncovered and the channel is in fluid communication with an area adjacent to the elongated probe via the access port, and a closed position where the access port is covered and a migration of fluids through the distal opening is permitted.
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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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Patent Agency Ranking
公开(公告)号：US20210106289A1
公开(公告)日：2021-04-15
申请号：US17127888
申请日：2020-12-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
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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：US10912523B2
公开(公告)日：2021-02-09
申请号：US14665650
申请日：2015-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Donhowe , Tao Zhao , Timothy Soper , Federico Barbagli
Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.
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公开(公告)号：US20210030494A1
公开(公告)日：2021-02-04
申请号：US17075163
申请日：2020-10-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.
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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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