公开(公告)号：US12211154B2

公开(公告)日：2025-01-28

申请号：US17919927

申请日：2021-05-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brandon D. Itkowitz ,  Terrence B. McKenna, III ,  Govinda Payyavula

IPC: G06T19/00 ,  G06F3/01 ,  G06F3/14 ,  G06T19/20 ,  G06V10/25 ,  G06V10/74 ,  G06V20/40

Abstract: A region-based augmentation system is configured to determine that a viewpoint of a user of a display device is directed within an anchor region of a physical world containing the user. In response, the system directs the display device to present augmented content in an evident manner. The evident manner comprises anchoring the augmented content relative to the viewpoint, such that the augmented content follows the viewpoint as the user moves the viewpoint within the anchor region. The system further determines that the viewpoint is directed outside of the anchor region by the user. In response, the system directs the display device to present the augmented content in a less evident manner. The presenting of the augmented content in the less evident manner comprises presenting the augmented content less visibly than the evident manner and/or unanchoring the augmented content relative to the viewpoint. Corresponding methods and systems are also disclosed.

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：US20240282065A1

公开(公告)日：2024-08-22

申请号：US18653499

申请日：2024-05-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Govinda Payyavula ,  Cortney Jansen ,  Huan Lac Phan ,  Simon P. DiMaio

IPC: G06T19/00 ,  A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B34/20 ,  A61B34/30

CPC classification number: G06T19/006 ,  A61B1/0005 ,  A61B1/05 ,  A61B1/0676 ,  A61B34/20 ,  A61B34/30 ,  A61B2034/2057

Abstract: A computer-assisted system includes a manipulator arm coupled to an active imaging device and one or more processors configured to perform a process comprising: automatically directing a display device to display a shape overlay overlaid with an external view of a body, wherein the shape overlay is indicative of an extent of a field of view of the active imaging device relative to the body, and automatically directing the display device to display an auxiliary shape overlay overlaid with the external view of the body, wherein the auxiliary shape overlay is indicative of an extent of a potential field of view of the active imaging device relative to the body, the potential field of view distinct from the field of view.

公开(公告)号：US20240197421A1

公开(公告)日：2024-06-20

申请号：US18416759

申请日：2024-01-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B17/00 ,  A61B18/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

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：US11950864B2

公开(公告)日：2024-04-09

申请号：US16773605

申请日：2020-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio

IPC: A61B18/12 ,  A61B34/30 ,  A61B90/11 ,  A61B17/00 ,  A61B17/34 ,  A61B18/14

CPC classification number: A61B34/30 ,  A61B90/11 ,  A61B2017/00318 ,  A61B2017/00331 ,  A61B2017/00477 ,  A61B2017/3409 ,  A61B18/1477

Abstract: A device includes a first mechanism having a surface and a helical slot in the surface, a second mechanism having a periphery and an axial slot in the periphery, and an insert comprising a pin. The second mechanism is located within the first mechanism. The insert is located within the second mechanism. The pin extends from the insert through the axial slot of the second mechanism and into the helical slot of the first mechanism. The insert is configured to couple to an instrument. In some embodiments, the insert is configured to move the instrument in a degree of freedom in response to the second mechanism being held stationary and the first mechanism being rotated. In some embodiments, the degree of freedom is an insertion and retraction degree of freedom.

公开(公告)号：US11931122B2

公开(公告)日：2024-03-19

申请号：US16349202

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Mahdi Azizian ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  May Quo-Mei Liu ,  Ian E. McDowall ,  Brent Tokarchuk

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B2017/00477 ,  A61B2018/00595 ,  A61B2018/00988 ,  A61B2034/101 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/3612 ,  A61B2090/364 ,  A61B90/37

Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

公开(公告)号：US20240033005A1

公开(公告)日：2024-02-01

申请号：US18255336

申请日：2021-11-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prasad V. Upadrasta ,  Simon P. DiMaio ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/363 ,  A61B2090/365

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 receive an image of a medical environment and identify a medical component in the image of the medical environment. The medical component may be disposed in a first configuration. The computer readable instructions, when executed by the processor also cause the system to receive kinematic information about the medical component and generate virtual guidance based on the kinematic information. The virtual guidance may include a virtual image of the medical component disposed in a second configuration.

公开(公告)号：US11857280B2

公开(公告)日：2024-01-02

申请号：US17990318

申请日：2022-11-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DiMaio ,  Gerard J. Labonville ,  Kollin M. Tierling

IPC: G05B19/00 ,  A61B34/35 ,  A61B34/37 ,  G16H40/67 ,  G16H30/40 ,  A61B1/00 ,  G05B19/4155 ,  H04N23/54 ,  A61B34/00 ,  A61B90/00 ,  A61B17/02 ,  A61B17/068 ,  A61B17/128 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/00 ,  H04N23/50

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B34/37 ,  G05B19/4155 ,  G16H30/40 ,  G16H40/67 ,  H04N23/54 ,  A61B17/02 ,  A61B17/068 ,  A61B17/1285 ,  A61B17/29 ,  A61B17/3201 ,  A61B17/320068 ,  A61B34/71 ,  A61B2018/00595 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/378 ,  A61B2090/3762 ,  A61B2217/005 ,  A61B2217/007 ,  G05B2219/40174 ,  H04N23/555

Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

公开(公告)号：US11832911B2

公开(公告)日：2023-12-05

申请号：US17198772

申请日：2021-03-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David J. Rosa ,  Gary S. Guthart ,  Simon P. DiMaio

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/00 ,  B25J9/06 ,  B25J9/16 ,  A61B34/20 ,  A61B34/30

CPC classification number: A61B34/70 ,  A61B34/35 ,  A61B34/37 ,  B25J9/0009 ,  B25J9/06 ,  B25J9/1602 ,  A61B2034/2074 ,  A61B2034/301 ,  A61B2034/304

Abstract: A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.