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.

公开(公告)号：US20220361952A1

公开(公告)日：2022-11-17

申请号：US17762518

申请日：2020-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Azad Shademan ,  Mahdi Azizian ,  Daniel Proksch ,  Pourya Shirazian

IPC: A61B34/10 ,  A61B34/32 ,  A61B34/00 ,  A61B5/107 ,  G06T7/50 ,  G06T7/11 ,  G06T19/00 ,  G06T19/20 ,  G16H20/40

Abstract: An exemplary system is configured to obtain anatomical characteristic data representative of a characteristic associated with an anatomical surface to be covered by a physical medical element, the anatomical surface within an internal space of a patient and determine, based on the anatomical characteristic data, a placement guidance parameter set. The placement guidance parameter set may include one or more parameters configured to guide a placement of the physical medical element on the anatomical surface with one or more surgical instruments controlled by a computer-assisted surgical system.

公开(公告)号：US11406462B2

公开(公告)日：2022-08-09

申请号：US16349214

申请日：2017-11-10

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 ,  A61B50/13 ,  A61B17/00 ,  B25J9/16 ,  A61B50/33 ,  A61B46/10

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.

公开(公告)号：US20220175346A1

公开(公告)日：2022-06-09

申请号：US17611602

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B8/00 ,  A61B8/08 ,  A61B8/12

Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

公开(公告)号：US20210304512A1

公开(公告)日：2021-09-30

申请号：US17266304

申请日：2019-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: G06T19/00 ,  A61B90/00 ,  G06T19/20 ,  G06T17/20

Abstract: Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.

公开(公告)号：US20210158947A1

公开(公告)日：2021-05-27

申请号：US17103661

申请日：2020-11-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Christopher R. Burns ,  Boris Foelsch ,  Liron Leist

IPC: G16H40/20 ,  G16H40/67 ,  H04W8/00 ,  H04W4/38 ,  A61B34/00 ,  A61B90/98

Abstract: A beacon-based metrics system may track events associated with a user device located within a medical facility, determine that the user device detects a beacon emitted by a beacon generator located within the medical facility, and identify information included in the beacon. The beacon-based metrics system may generate medical facility metrics data representative of the tracked events by identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating the information included in the beacon with the set of tracked events.