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公开(公告)号：US20190151039A1
公开(公告)日：2019-05-23
申请号：US16261122
申请日：2019-01-29
发明人： Mahdi Azizian
摘要： Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.
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公开(公告)号：US10283220B2
公开(公告)日：2019-05-07
申请号：US14912083
申请日：2014-08-14
摘要： A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
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公开(公告)号：US20160345929A1
公开(公告)日：2016-12-01
申请号：US15116561
申请日：2015-02-04
发明人： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC分类号： A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G06F19/00 , G16H40/63
摘要： A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
摘要翻译： 动态虚拟碰撞对象的系统和方法包括用于医疗设备的控制单元。 控制单元包括一个或多个处理器和将控制单元耦合到医疗设备的接口。 所述控制单元被配置为确定所述医疗设备的第一可移动段的位置，所述第一可移动段所占据的体积被一个或多个第一虚拟碰撞对象（VCO）近似; 基于医疗设备的位置和运动目标调整第一VCO的一个或多个属性; 基于位置和属性确定第一VCO的第一几何形状; 接收与第二设备的第二段相关联的一个或多个第二VCO的第二几何; 确定第一VCO和第二VCO之间的关系; 并根据关系调整医疗器械的运动计划。
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公开(公告)号：US20240358472A1
公开(公告)日：2024-10-31
申请号：US18771024
申请日：2024-07-12
发明人： Mahdi Azizian , Oliver J. Wagner
IPC分类号： A61B90/00 , A61B1/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/11 , A61B6/00 , A61B6/02 , A61B6/12 , A61B6/50
CPC分类号： A61B90/39 , A61B1/00193 , A61B5/055 , A61B5/064 , A61B5/1127 , A61B5/4504 , A61B5/6878 , A61B6/022 , A61B6/12 , A61B6/505 , A61B6/487 , A61B2090/3941 , A61B2090/3954 , A61B2090/3966
摘要： A system and method for anatomical markers includes an anatomical marker. The anatomical marker includes a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material is different from the second material. The first imaging modality is different from the second imaging modality. The first and second imaging modalities obtain their images without using light in a visible spectrum. In some embodiments, the anatomical marker further includes one or more superabsorbent polymers for absorbing and containing the one or more superabsorbent polymers. In some embodiments, the anatomical marker further includes a liquid or gel including the first and second materials, wherein the liquid or gel is configured to be applied to the anatomy of the patient. In some embodiments, the anatomical markers may be used to register a medical tool to anatomy of a patient.
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公开(公告)号：US12131172B2
公开(公告)日：2024-10-29
申请号：US17544654
申请日：2021-12-07
发明人： Mahdi Azizian , Jonathan Sorger , Simon P. Dimaio
IPC分类号： G06F11/34 , G06F9/455 , G09B23/28 , G16H40/63 , G16H40/67 , G16H50/50 , G16Z99/00 , H04L67/01
CPC分类号： G06F9/455 , G06F11/3476 , G09B23/28 , G16H40/63 , G16H40/67 , G16H50/50 , G16Z99/00 , H04L67/01
摘要： Techniques for virtually recreating devices include a replay service configured to access a log associated with a first device, extract a first log entry from the log, recreate a first recreated service request for the one or more shared services based on information associated with the first log entry, and send the first recreated service request to a shared service to recreate an event associated with the first log entry; one or more shared services configured to receive and respond to a second service request from a second device coupled to the logging and replay device; and a recreation engine configured to receive the first recreated service request, a response to the first recreated service request, the second service request, and a response to the second service request and create a virtual recreation of the first device.
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76.发明授权公开(公告)号：US12102391B2
公开(公告)日：2024-10-01
申请号：US16465541
申请日：2018-01-03
发明人： Mahdi Azizian
IPC分类号： A61B34/20 , A61B1/00 , A61B1/04 , A61B34/00 , A61B34/30 , A61B90/00 , G06F3/04883 , G06T7/00 , G06T11/60 , G16H30/40 , G16H50/50
CPC分类号： A61B34/20 , A61B1/0005 , A61B1/043 , A61B34/25 , A61B34/30 , A61B90/36 , G06F3/04883 , G06T7/0012 , G06T11/60 , G16H30/40 , G16H50/50 , A61B2034/2065 , A61B2034/301 , A61B2090/365 , G06T2207/10064 , G06T2207/10068 , G06T2207/10081 , G06T2207/30008 , G06T2207/30096 , G06T2211/428
摘要： A system and method for registration and coordinated manipulation of augmented reality image components includes registering a model of patient anatomy to a first image of the patient anatomy captured using an imaging device to determine a baseline relationship between the model and the first image, tracking movement of a computer-assisted device used to manipulate the imaging device, updating the baseline relationship based on the tracked movement, and generating a composite image by overlaying the model on a second image of the patient anatomy according to the updated relationship. In some embodiments, the model is semi-transparent. In some embodiments, registering the model to the first image includes adjusting the model relative to the first image based on one or more inputs received from a user and generating a model to image transformation based on the adjustments to the model. The model to image transformation captures the baseline relationship.
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公开(公告)号：US20240276169A1
公开(公告)日：2024-08-15
申请号：US18642625
申请日：2024-04-22
发明人： Mahdi Azizian
CPC分类号： H04S7/303 , A61B34/35 , G16H40/63 , A61B2034/302 , H04S2400/11 , H04S2400/15
摘要： System and method for projecting audio signals to an operator of a teleoperational surgical system to convey spatial orientation associated with the audio signals to the operator. Characteristics of the audio signals such as direction and volume may be selected to give the impression that the remote operator is positioned locally next to the patient. Characteristics of the audio signals may also be modified to provide spatial translations between actual locations of audio sources within a physical audio environment and simulations locations of the audio sources with a virtual audio environment.
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公开(公告)号：US11944399B2
公开(公告)日：2024-04-02
申请号：US18152914
申请日：2023-01-11
摘要： A computer-assisted medical device includes a first articulated arm, a second articulated arm, an arm stabilizer, and a control system. The arm stabilizer includes first and second clamps and one or more sensors. The first and second clamps are configured to couple the arm stabilizer to the first and second articulated arms. At least one of a distance or a relative orientation between the first and second clamps is adjustable and the one or more sensors are configured to determine the distance or relative orientation. The control system is configured to implement a following mode in which the control system drives movement of the second articulated arm in response to movements of the first articulated arm and the arm stabilizer.
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公开(公告)号：US11918306B2
公开(公告)日：2024-03-05
申请号：US16481196
申请日：2018-02-14
发明人： Mahdi Azizian
CPC分类号： A61B34/25 , A61B90/37 , G06T11/60 , A61B34/35 , A61B2090/367 , A61B2090/371 , A61B2090/373 , A61B2090/374 , A61B2090/3762 , A61B2090/378 , G06T2210/41
摘要： The technology described in this document can be embodied in a method of displaying images of portions of a human body on a display device. The method includes receiving a representation of a plurality of images that includes images of at least two different modalities, and location information corresponding to at least a subset of the plurality of images. A first image of a first modality is displayed on the display device in accordance with the corresponding location information. A second image of a second modality is overlaid on the first image in accordance with corresponding location information. At least a third image is overlaid on the first image in accordance with corresponding location information, the third image being of the second modality, and the second and third images being displayed concurrently for at least a period of time.
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公开(公告)号：US20240024051A1
公开(公告)日：2024-01-25
申请号：US18351424
申请日：2023-07-12
发明人： 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分类号： A61B34/35 , A61B34/10 , A61B34/00 , A61B90/00 , A61B34/37 , G16H50/50 , B25J9/16 , G16H20/40 , G16H40/67
CPC分类号： A61B34/35 , A61B34/10 , A61B34/76 , A61B90/00 , A61B34/00 , A61B34/37 , G16H50/50 , B25J9/1689 , G16H20/40 , G16H40/67 , A61B34/77 , A61B2090/3612 , G05B2219/40137 , G05B2219/45118 , G05B2219/40161 , G05B2219/40167 , G05B2219/40143 , G05B2219/40169 , G05B2219/40144 , G05B2219/40191 , G05B2219/40168 , G05B2219/40134 , A61B34/20
摘要： 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.
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