公开(公告)号：US12251170B2

公开(公告)日：2025-03-18

申请号：US17942777

申请日：2022-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Wenyi Zhao ,  William C. Nowlin

IPC: A61B8/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B34/10 ,  A61B90/00

Abstract: A system may comprise a tool including at least one reference feature. a processor, and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.

公开(公告)号：US12133702B2

公开(公告)日：2024-11-05

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

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  G16H20/40 ,  G16H40/67 ,  A61B17/00 ,  A61B18/00 ,  A61B90/00

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.

公开(公告)号：US11534251B2

公开(公告)日：2022-12-27

申请号：US16667523

申请日：2019-10-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US20200214776A1

公开(公告)日：2020-07-09

申请号：US16349208

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

IPC: A61B34/35 ,  A61B90/98 ,  A61B34/00

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

公开(公告)号：US10432921B2

公开(公告)日：2019-10-01

申请号：US16034004

申请日：2018-07-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/366 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B1/04 ,  A61B17/00

Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US10038888B2

公开(公告)日：2018-07-31

申请号：US15615830

申请日：2017-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/04 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  H04N13/00 ,  H04N13/02 ,  A61B90/00 ,  A61B17/00 ,  A61B1/04

CPC classification number: H04N13/366 ,  A61B1/00039 ,  A61B1/00193 ,  A61B1/042 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2090/371 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383

Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US09867671B2

公开(公告)日：2018-01-16

申请号：US15607676

申请日：2017-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, Jr. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  G09B23/28 ,  A61B1/00 ,  A61B17/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20170339399A1

公开(公告)日：2017-11-23

申请号：US15615830

申请日：2017-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/04 ,  A61B90/00 ,  H04N13/00 ,  A61B34/30 ,  A61B1/00 ,  A61B34/37 ,  H04N13/02 ,  A61B17/00 ,  A61B1/04

CPC classification number: H04N13/366 ,  A61B1/00039 ,  A61B1/00193 ,  A61B1/042 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2090/371 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383

Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US20170265948A1

公开(公告)日：2017-09-21

申请号：US15608907

申请日：2017-05-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Thomas R. Nixon ,  Gregory K. Toth

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US09554859B2

公开(公告)日：2017-01-31

申请号：US14462507

申请日：2014-08-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B19/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract translation: 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。