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公开(公告)号：US11172809B2
公开(公告)日：2021-11-16
申请号：US14181024
申请日：2014-02-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael D. Paris , Lucas Gordon , Tao Zhao , Carol Reiley
Abstract: An anatomical probe system comprises an elongated flexible body and an elongated probe extending within the flexible body. The probe has a distal opening at a distal face of a distal end and includes an outer wall defining a channel, an access port in the outer wall in communication with the channel, a one-way flow controller, and an image capture instrument secured to the outer wall at a location proximal of the distal opening. The access port is spaced proximally of the distal face of the distal end. The one-way flow controller includes a cover configured to move between an open position where the access port is uncovered and the channel is in fluid communication with an area adjacent to the elongated probe via the access port, and a closed position where the access port is covered and a migration of fluids through the distal opening is permitted.
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公开(公告)号：US20210256749A1
公开(公告)日：2021-08-19
申请号：US17213924
申请日：2021-03-26
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
Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.
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公开(公告)号：US20210106289A1
公开(公告)日：2021-04-15
申请号：US17127888
申请日：2020-12-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Q. Donhowe , Tao Zhao , Timothy D. Soper , Federico Barbagli
Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.
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公开(公告)号：US10929656B2
公开(公告)日：2021-02-23
申请号：US16527413
申请日：2019-07-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
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公开(公告)号：US10912523B2
公开(公告)日：2021-02-09
申请号：US14665650
申请日：2015-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Vincent Duindam , Caitlin Donhowe , Tao Zhao , Timothy Soper , Federico Barbagli
Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.
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Patent Agency Ranking
公开(公告)号：US20210030494A1
公开(公告)日：2021-02-04
申请号：US17075163
申请日：2020-10-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dorin Panescu , Prashant Chopra , Jonathan M. Sorger , Tao Zhao
Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.
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公开(公告)号：US20200368915A1
公开(公告)日：2020-11-26
申请号：US16932373
申请日：2020-07-17
Applicant: Intuitive Surgical Operations, Inc
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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78.发明申请公开(公告)号：US20200170725A1
公开(公告)日：2020-06-04
申请号：US16779564
申请日：2020-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John R. Steger , David Q. Larkin
Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.
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公开(公告)号：US20200000526A1
公开(公告)日：2020-01-02
申请号：US16482020
申请日：2018-02-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao
Abstract: Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree.
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公开(公告)号：US20190354754A1
公开(公告)日：2019-11-21
申请号：US16527413
申请日：2019-07-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
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