公开(公告)号：US11331156B2

公开(公告)日：2022-05-17

申请号：US16687549

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/06 ,  A61B34/30 ,  A61B90/30 ,  A61B90/00

Abstract: A system includes a controller communicatively coupled to an illuminator and to a camera configured to capture a scene including tissue. The controller may change the output optical power of the illuminator from a first output optical power to a second output optical power so that a subsequently captured frame is captured by the camera from reflected light, the reflected light being light from the illuminator having the second output optical power prior to being reflected. The controller may determine that an endoscope contacted the tissue if the change of the output optical power of the illuminator results in a change of a reflected luminance that is less than a predetermined threshold, the change of the reflected luminance being a change from a first reflected luminance for the first output optical power to a second reflected luminance for the second output optical power.

公开(公告)号：US11317979B2

公开(公告)日：2022-05-03

申请号：US15262867

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

Abstract: A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

公开(公告)号：US20210315650A1

公开(公告)日：2021-10-14

申请号：US17354567

申请日：2021-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brent Tokarchuk ,  Mahdi Azizian ,  Joey Chau ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  Ian E. McDowall ,  William C. Nowlin ,  John D. Seaman, II ,  Jonathan M. Sorger

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  G16H50/50 ,  B25J9/16 ,  G16H20/40 ,  G16H40/67

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

公开(公告)号：US20210220078A1

公开(公告)日：2021-07-22

申请号：US17051515

申请日：2019-05-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rohitkumar Godhani ,  Brian D. Hoffman

IPC: A61B90/00 ,  A61B1/00 ,  A61B34/00 ,  A61B34/20

Abstract: A measurement system accesses first and second images captured respectively from first and second vantage points by first and second cameras included within a stereoscopic endo scope located at a surgical area associated with a patient. The measurement system receives user input designating a user-selected two-dimensional (“2D”) endpoint corresponding to a feature within the surgical area as represented in the first image, and identifies, based on the user-selected 2D endpoint, a matched 2D endpoint corresponding to the feature as represented in the second image. Based on the user-selected and matched 2D endpoints, the measurement system defines a three-dimensional (“3D”) endpoint corresponding to the feature within the surgical area. The measurement system then determines a distance from the 3D endpoint to an additional 3D endpoint corresponding to an additional feature within the surgical area. Corresponding systems and methods are also described.

公开(公告)号：US20210093402A1

公开(公告)日：2021-04-01

申请号：US17061785

申请日：2020-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

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

Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.

公开(公告)号：US10792107B2

公开(公告)日：2020-10-06

申请号：US15371158

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US10674900B2

公开(公告)日：2020-06-09

申请号：US15725153

申请日：2017-10-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  William C. Nowlin

IPC: A61B1/045 ,  A61B34/32 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

Abstract: In one embodiment of the invention, a method and system for controlling a telesurgical tool is disclosed. The method and system for controlling a telesurgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.

公开(公告)号：US20200093357A1

公开(公告)日：2020-03-26

申请号：US16697586

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B1/00 ,  H04N13/207 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30

Abstract: An exemplary method includes an image processing system Receiving a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components; receiving a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image; creating a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame; creating a third fluorescence image based on the second fluorescence image; and generating, based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system.

公开(公告)号：US10592529B2

公开(公告)日：2020-03-17

申请号：US15814214

申请日：2017-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian D. Hoffman ,  Joshua Radel

IPC: G06F17/30 ,  G06F16/27 ,  G06F16/23 ,  G06F9/54 ,  A61B34/37 ,  A61B34/00

Abstract: A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.

公开(公告)号：US10524644B2

公开(公告)日：2020-01-07

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  H04N13/207 ,  A61B1/00 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30 ,  G01N21/64 ,  A61B90/30 ,  A61B34/37

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.