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.

公开(公告)号：US20240212863A1

公开(公告)日：2024-06-27

申请号：US18600308

申请日：2024-03-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian

IPC: G16H50/50 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08 ,  G06T15/80 ,  G06T17/20

CPC classification number: G16H50/50 ,  A61B5/055 ,  A61B6/032 ,  A61B8/485 ,  G06T15/80 ,  G06T17/20 ,  G06T2210/41

Abstract: A method is provided to model a 3D structure comprising: producing a surface mesh representation of the 3D structure; producing a volume mesh representation of the 3D structure based upon the surface mesh; sorting vertices of the volume mesh into a first sub-list that includes only surface vertices and a second sub-list that includes only internal vertices; applying shading to the surface mesh by accessing only surface vertices in the first sub-list; determining deformation of the volume mesh by accessing both surface vertices in the first sub-list and internal vertices in the second sub-list.

公开(公告)号：US20240197421A1

公开(公告)日：2024-06-20

申请号：US18416759

申请日：2024-01-18

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

IPC: A61B34/35 ,  A61B17/00 ,  A61B18/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

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.

公开(公告)号：US11931122B2

公开(公告)日：2024-03-19

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

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

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.

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.

公开(公告)号：US11666413B2

公开(公告)日：2023-06-06

申请号：US16813120

申请日：2020-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B90/50 ,  A61B90/11 ,  A61B34/20 ,  B25J9/16 ,  B25J9/00 ,  A61B1/00 ,  A61B34/00

CPC classification number: A61B90/50 ,  A61B34/20 ,  A61B90/11 ,  A61B1/00149 ,  A61B34/25 ,  A61B34/70 ,  B25J9/009 ,  B25J9/1682

Abstract: A tool guide may be used with a computer-assisted medical device. The tool guide comprises an elongated body comprising a first end and a second end opposite the first end. The tool guide also comprises a joint attached to the first end of the elongated body and a mounting arm coupled to the elongated body via the joint. The tool guide also comprises a tool sleeve attached to the second end of the elongated body. The mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device, and the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.

公开(公告)号：US20230145531A1

公开(公告)日：2023-05-11

申请号：US17912784

申请日：2021-03-19

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06T7/33

CPC classification number: G06T7/33 ,  G06T2207/30004 ,  G06T2207/10068

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.

公开(公告)号：US20230050857A1

公开(公告)日：2023-02-16

申请号：US17793595

申请日：2021-01-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Maximilian H. Allan ,  Mahdi Azizian ,  A. Jonathan McLeod

IPC: G06T19/00 ,  G06T7/50 ,  G06T7/20

Abstract: An exemplary object masking system is configured to mask a recognized object during an application of a synthetic element to an original image. For example, the object masking system accesses a model of a recognized object depicted in an original image of a scene. The object masking system associates the model with the recognized object. The object masking system then generates presentation data for use by a presentation system to present an augmented version of the original image in which a synthetic element added to the original image is, based on the model as associated with the recognized object, prevented from occluding at least a portion of the recognized object. In this way, the synthetic element is made to appear as if located behind the recognized object. Corresponding systems and methods are also disclosed.

公开(公告)号：US20220414914A1

公开(公告)日：2022-12-29

申请号：US17781272

申请日：2020-12-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Azad Shademan

IPC: G06T7/62 ,  G06T15/06 ,  G06T7/593

Abstract: An exemplary tissue volume detection system accesses, during a surgical procedure involving resecting a piece of tissue from a body, a plurality of depth datasets for the resected piece of tissue. Each of the plurality of depth datasets is captured as a different portion of a surface of the resected piece of tissue is presented to an imaging device by an instrument that holds the resected piece of tissue in a manner that sequentially presents the different portions of the surface to the imaging device. During the surgical procedure and based on the depth datasets, the system generates a three-dimensional (3D) occupancy map that includes a set of voxels identified to be occupied by the resected piece of tissue. Based on the 3D occupancy map and still during the surgical procedure, the system determines an estimated volume of the resected piece of tissue. Corresponding systems and methods are also disclosed.

公开(公告)号：US20220387119A1

公开(公告)日：2022-12-08

申请号：US17863361

申请日：2022-07-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Mahdi Azizian ,  Brian D. Hoffman ,  Ian E. McDowall ,  Paul W. Mohr ,  William C. Nowlin

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B90/50

Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.