公开(公告)号：US20240296608A1

公开(公告)日：2024-09-05

申请号：US18437072

申请日：2024-02-08

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

IPC: G06T11/60 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40

CPC classification number: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G06T11/40 ,  A61B34/20 ,  A61B2034/2061 ,  A61B34/25 ,  A61B90/361 ,  A61B2090/371 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  Y02P90/02

Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

公开(公告)号：US11992283B2

公开(公告)日：2024-05-28

申请号：US16489735

申请日：2018-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  David W. Robinson

IPC: A61B34/35 ,  A61B1/00 ,  A61B1/313 ,  A61B34/20 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B1/00193 ,  A61B2017/00314 ,  A61B2034/2065

Abstract: A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

公开(公告)号：US11977678B2

公开(公告)日：2024-05-07

申请号：US18311107

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/01 ,  G06F3/04815

CPC classification number: G06F3/013 ,  G06F3/04815

Abstract: A medical robotic system includes a viewer for displaying an image of a work site, a gaze tracker for tracking a gaze point of a user on the viewer, and a processor. The processor is configured to: draw an area or volume defining shape, overlaid on the image of the work site, in a position determined by the gaze tracker; assign a fixed virtual constraint to the shape and constrain movement of a robotic tool according to the fixed virtual constraint; receive a user selected action command selecting an image of patient anatomy; and superimpose the selected image of the patient anatomy over the image of the work site within the shape. The selected image of the patient anatomy is registered to the image of the work site.

公开(公告)号：US11963731B2

公开(公告)日：2024-04-23

申请号：US17870528

申请日：2022-07-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

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

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1689

Abstract: A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.

公开(公告)号：US20240111357A1

公开(公告)日：2024-04-04

申请号：US18039706

申请日：2021-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ehsan Noohi Bezanjani ,  Keith Watza ,  Ashwinram Suresh ,  Brandon D. Itkowitz ,  Sean Duffy ,  Sarthak Ghosh

IPC: G06F3/01

CPC classification number: G06F3/011 ,  G06F3/016

Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

公开(公告)号：US11877816B2

公开(公告)日：2024-01-23

申请号：US16763552

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ambarish G. Goswami ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Tao Zhao

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/70 ,  A61B90/37 ,  A61B90/39 ,  A61B2034/301

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

公开(公告)号：US11872006B2

公开(公告)日：2024-01-16

申请号：US16791046

申请日：2020-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: B25J9/16 ,  A61B34/35 ,  A61B17/29 ,  A61B34/00 ,  A61B90/94 ,  A61B34/37 ,  A61B90/00 ,  B25J13/06 ,  B25J19/02

CPC classification number: A61B34/35 ,  A61B17/29 ,  A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B90/94 ,  B25J9/1674 ,  B25J9/1682 ,  B25J13/06 ,  B25J19/023 ,  A61B2090/0807 ,  B25J9/1689

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, determine association information about the manipulators and the operator control system, and display badges near the medical instruments in the image of the field of view of the surgical environment. The badges display the association information for the medical instrument they appear associated with.

公开(公告)号：US20230389999A1

公开(公告)日：2023-12-07

申请号：US18336875

申请日：2023-06-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Julie L. Berry ,  Anthony M. Jarc ,  Amy E. Kerdok

IPC: A61B34/00 ,  A61G13/02 ,  G16H40/63

CPC classification number: A61B34/25 ,  A61G13/02 ,  G16H40/63 ,  A61B2034/256 ,  A61B2034/258 ,  A61B34/35

Abstract: A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user, the user profile including a parameter established during a prior teleoperational procedure. The parameter includes an ergonomic setup for an input device of the operator input system. The input device is configured to operate the teleoperational manipulator. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting the operator input system based on the at least one of the ergonomic setup for the operator input system.

公开(公告)号：US20230380926A1

公开(公告)日：2023-11-30

申请号：US18449586

申请日：2023-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  G06F3/01 ,  A61B34/00 ,  A61B34/35 ,  G06T19/00 ,  A61B17/00 ,  A61B1/00 ,  A61B90/50 ,  A61B34/10 ,  A61B17/02

CPC classification number: A61B90/36 ,  A61B2034/107 ,  A61B34/25 ,  A61B34/35 ,  G06T19/006 ,  A61B34/74 ,  A61B2017/00207 ,  A61B90/361 ,  A61B2017/00973 ,  G06T2210/41 ,  A61B1/00045 ,  A61B2090/365 ,  A61B2090/3762 ,  A61B2090/502 ,  A61B2034/105 ,  A61B17/02 ,  G06F3/017

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.

公开(公告)号：US11766308B2

公开(公告)日：2023-09-26

申请号：US17731903

申请日：2022-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/01 ,  G06T19/00 ,  A61B34/10 ,  A61B90/50 ,  A61B1/00 ,  A61B17/02 ,  A61B17/00

CPC classification number: A61B90/36 ,  A61B34/25 ,  A61B34/35 ,  G06F3/017 ,  G06T19/006 ,  A61B1/00045 ,  A61B17/02 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00207 ,  A61B2017/00973 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/365 ,  A61B2090/3762 ,  A61B2090/502 ,  G06T2210/41

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to display a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The computer readable instructions also cause the system to display an image of a body part of a user used to interact with the virtual control element, receive a gesture of the body part of the user in a predetermined motion via a gesture based input device, and adjust a setting of the component of the surgical system based on the received gesture.