公开(公告)号：US11931122B2

公开(公告)日：2024-03-19

申请号：US16349202

申请日：2017-11-10

申请人： Intuitive Surgical Operations, Inc.

发明人： 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分类号： A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC分类号： 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

摘要： 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

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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

摘要： 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

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC分类号： 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分类号： 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

摘要： 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

申请人： Intuitive Surgical Operations, Inc.

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

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

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

摘要： 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.

公开(公告)号：US20230380926A1

公开(公告)日：2023-11-30

申请号：US18449586

申请日：2023-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC分类号： A61B90/00 ,  G06F3/01 ,  A61B34/00 ,  A61B34/35 ,  G06T19/00 ,  A61B17/00 ,  A61B1/00 ,  A61B90/50 ,  A61B34/10 ,  A61B17/02

CPC分类号： A61B90/36 ,  A61B2034/107 ,  A61B34/25 ,  A61B34/35 ,  G06T19/006 ,  A61B34/74 ,  A61B2017/00207 ,  A61B90/361 ,  A61B2017/00973 ,  G06T2210/41 ,  A61B1/00045 ,  A61B2090/365 ,  A61B2090/3762 ,  A61B2090/502 ,  A61B2034/105 ,  A61B17/02 ,  G06F3/017

摘要： A system comprises a processor and a memory having computer readable instructions stored thereon, which, when executed by the processor, cause the system to display an image of a surgical environment. The image includes an information icon corresponding to an instrument in the surgical environment. The instructions further cause the system to display an image of a body part of a user. The image of the body part is used to interact with the information icon. The instructions further cause the system to receive a gesture of the body part, via a gesture-based input device registering movement of the body part, to cause the image of the body part to interact with the information icon. The instructions further cause the system to display an information menu in the image of the surgical environment based on the interaction between the image of the body part and the information icon.

公开(公告)号：US11766308B2

公开(公告)日：2023-09-26

申请号：US17731903

申请日：2022-04-28

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC分类号： A61B90/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/01 ,  G06T19/00 ,  A61B34/10 ,  A61B90/50 ,  A61B1/00 ,  A61B17/02 ,  A61B17/00

CPC分类号： A61B90/36 ,  A61B34/25 ,  A61B34/35 ,  G06F3/017 ,  G06T19/006 ,  A61B1/00045 ,  A61B17/02 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00207 ,  A61B2017/00973 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/365 ,  A61B2090/3762 ,  A61B2090/502 ,  G06T2210/41

摘要： 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 display a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The computer readable instructions also cause the system to display an image of a body part of a user used to interact with the virtual control element, receive a gesture of the body part of the user in a predetermined motion via a gesture based input device, and adjust a setting of the component of the surgical system based on the received gesture.

公开(公告)号：US20230186574A1

公开(公告)日：2023-06-15

申请号：US17919927

申请日：2021-05-10

申请人： Intuitive Surgical Operations, Inc.

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

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

CPC分类号： G06T19/006 ,  G06T19/20 ,  G06V10/25 ,  G06V10/761 ,  G06V20/44 ,  G06F3/013 ,  G06F3/14 ,  G06T2219/2016

摘要： 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：US11672619B2

公开(公告)日：2023-06-13

申请号：US17107862

申请日：2020-11-30

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC分类号： B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00

CPC分类号： A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

摘要： A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US11559365B2

公开(公告)日：2023-01-24

申请号：US16489799

申请日：2018-03-05

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Govinda Payyavula ,  Simon P. DiMaio ,  John William Henrie ,  Brandon D. Itkowitz ,  Anthony M. Jarc

IPC分类号： A61B34/35 ,  A61B34/00 ,  B25J9/16 ,  A61B34/20 ,  A61B17/00

摘要： A teleoperational medical system includes a teleoperational control system, a teleoperational manipulator, an operator controller. The control system includes a processing unit configured to: determine a position and orientation of a marker on an operator of the operator controller; determine whether a head portion of the operator is directed toward or away from a display region of a display; based on a determination that the head portion is directed toward the display region, initiate an operator following mode in which a movement of the operator controller provides a corresponding movement to the teleoperational manipulator; and based on a determination that the head portion is directed away, suspend the operator following mode. The determination that the head portion is directed away from the display region of the display device includes determining whether the head portion of the operator is directed away from the display region for a threshold time period.

公开(公告)号：US20220249193A1

公开(公告)日：2022-08-11

申请号：US17731903

申请日：2022-04-28

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC分类号： A61B90/00 ,  A61B34/00 ,  A61B34/35 ,  G06F3/01 ,  G06T19/00

摘要： 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 display a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The virtual control element includes a real-time image of the component of the surgical system in the surgical environment image. The computer readable instructions also cause the system to display an image of a body part of a user used to interact with the virtual control element, receive a gesture of the body part of the user in a predetermined motion via a gesture based input device, and adjust a setting of the component of the surgical system based on the received gesture.