公开(公告)号：US12082902B2

公开(公告)日：2024-09-10

申请号：US17637060

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sina Parastegari ,  Goran Lynch

IPC: A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/77 ,  A61B34/25 ,  A61B34/37 ,  B25J9/1689 ,  A61B2017/00216 ,  A61B2034/2059

Abstract: A computer-assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to obtain a driving input, drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement, and cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.

公开(公告)号：US20240293930A1

公开(公告)日：2024-09-05

申请号：US18662382

申请日：2024-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti

IPC: B25J9/06 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  G05B19/4155

CPC classification number: B25J9/065 ,  A61B34/35 ,  A61B34/37 ,  G05B19/4155 ,  A61B2034/301 ,  G05B2219/50391

Abstract: A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system and the control device. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy between the determined device position and the virtual user-instructed position. The control system may also be configured to receive a second user input commanding motion of the steerable device and in response to the second user input, reduce the position discrepancy.

公开(公告)号：US20240293139A1

公开(公告)日：2024-09-05

申请号：US18442742

申请日：2024-02-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David J. Rosa ,  Salvatore J. Brogna

IPC: A61B17/32 ,  A61B17/00 ,  A61B18/00 ,  A61B18/12 ,  A61B18/14 ,  A61B34/30 ,  A61B34/35

CPC classification number: A61B17/320016 ,  A61B18/1233 ,  A61B18/1445 ,  A61B18/1447 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00973 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B18/1206 ,  A61B2018/1455

Abstract: A control system includes a processor communicatively coupled with first and second user-actuated input mechanisms. The processor is configured to, in response to a first input at the first user-actuated input mechanism, command a jaw mechanism of an end effector to move from an open position to an intermediate closed position within the range of motion of the jaw mechanism, and command a translating mechanism of the end effector to move from a proximal position to an intermediate position relative to the jaw mechanism. In response to a second input at the first user-actuated input mechanism, the processor is configured to command the jaw mechanism to move to the closed position, and command the translating element of the end effector to move from the intermediate position to the distal position.

公开(公告)号：US12076103B2

公开(公告)日：2024-09-03

申请号：US16705552

申请日：2019-12-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B5/107 ,  A61B17/00 ,  A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/77 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/70 ,  A61B5/1076 ,  A61B2017/00017 ,  A61B2017/003 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/3782

Abstract: A medical instrument system includes a control system and an operator input device coupled to an instrument including a sensor. The control system includes a processor and memory comprising instructions that cause the control system to: determine a distance between a distal tip of the instrument and an anatomical area based on sensor data; determine a motion scaling parameter based on the distance; receive an input instruction from the operator input device; map the input instruction to an output instruction including applying the motion scaling parameter to the input instruction to create the output instruction; instruct an actuator to move the instrument based on the output instruction; determine a second distance between the distal tip and the anatomical area based on the sensor data; determine a second motion scaling parameter based on the second distance; and stop movement of the instrument based on the second motion scaling parameter.

公开(公告)号：US12076102B2

公开(公告)日：2024-09-03

申请号：US16928173

申请日：2020-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B34/00 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

CPC classification number: A61B34/71 ,  A61B1/00128 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/31 ,  A61B2017/003 ,  A61B2017/00477

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US20240285363A1

公开(公告)日：2024-08-29

申请号：US18658363

申请日：2024-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/062

Abstract: A method comprises generating, by a control system, a measured model of an elongate instrument based on a measured state of the elongate instrument. The method further comprises generating, by the control system, a predicted model of the elongate instrument based on a reference state of the elongate instrument and a user command. The method further comprises comparing, by the control system, the measured model with the predicted model. The method further comprises determining, by the control system, whether a patient has moved relative to the elongate instrument based on the comparison.

公开(公告)号：US20240281975A1

公开(公告)日：2024-08-22

申请号：US18650707

申请日：2024-04-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: G06T7/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B90/00

CPC classification number: G06T7/0014 ,  A61B1/000096 ,  A61B1/0005 ,  A61B1/00055 ,  A61B1/043 ,  A61B1/05 ,  A61B90/37 ,  G06T2207/10064 ,  G06T2207/10068

Abstract: Technology described herein can be embodied in a method that includes obtaining, using an imaging device, a plurality of images of a surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in one of a plurality of wavelength ranges. The plurality of wavelength ranges are at least partially non-overlapping. The method also includes identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set of pixel values is substantially representative of a particular portion of the surgical scene and determining, based on the set of pixel values and a chromophore model, a concentration of a chromophore in the particular portion of the surgical scene, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations.

公开(公告)号：US20240277434A1

公开(公告)日：2024-08-22

申请号：US18654147

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran LYNCH

IPC: A61B34/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  B25J9/16

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B34/30 ,  B25J9/1607 ,  B25J9/1633 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305

Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.

公开(公告)号：US20240273900A1

公开(公告)日：2024-08-15

申请号：US18568564

申请日：2022-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Yidan Qin ,  Maximilian H. Allan ,  Mahdi Azizian

IPC: G06V20/40 ,  G06F21/62 ,  G06V10/764 ,  G06V10/96 ,  G06V20/50 ,  G06V40/10

CPC classification number: G06V20/41 ,  G06F21/6263 ,  G06V10/764 ,  G06V10/96 ,  G06V20/50 ,  G06V40/10 ,  G06V2201/03

Abstract: An illustrative image processing system is configured to apply a video stream to a machine learning model, the video stream generated by an imaging device during a medical procedure performed with respect to a patient; classify, based on an output of the machine learning model, an image frame included in the video stream as an ex-body frame that depicts content external to a body of the patient: and apply, based on the classifying the image frame as the ex-body frame, a privacy enhancing operation to the image frame.

公开(公告)号：US20240268822A1

公开(公告)日：2024-08-15

申请号：US18643081

申请日：2024-04-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jack Goodman ,  Wesley Chung Joe ,  Tyler J. Morrissette

IPC: A61B17/072 ,  A61B17/00 ,  A61B17/068 ,  A61B17/10 ,  A61B17/12 ,  A61B17/128 ,  A61B34/30 ,  A61B90/10

CPC classification number: A61B17/072 ,  A61B17/07207 ,  A61B17/12 ,  A61B17/1285 ,  A61B34/30 ,  A61B2017/00017 ,  A61B17/068 ,  A61B2017/07214 ,  A61B17/105 ,  A61B17/128 ,  A61B90/10

Abstract: An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion, and a transmission mechanism at the proximal end portion. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the plurality of consecutive positions being associated with a unique indicium of a non-zero number of available uses left of the instrument. In response to the driven input device being driven, the indicator moves from a current position of the plurality of positions to a subsequent position of the plurality of positions. The instrument can also include a device configured to record occurrence of a change in an environmental condition to which the instrument is subjected.