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.

公开(公告)号：US11007023B2

公开(公告)日：2021-05-18

申请号：US16053049

申请日：2018-08-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

IPC: A61B34/30 ,  A61B6/10 ,  A61B6/00 ,  A61B34/20 ,  B25J9/16 ,  A61B90/00

Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

公开(公告)号：US20200246084A1

公开(公告)日：2020-08-06

申请号：US16637461

申请日：2018-08-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: A61B34/00 ,  A61B34/37 ,  A61B90/00

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a field of view image obtained by a first imaging system. The method also includes receiving alert information and providing an alert indication, based upon the alert information, within the surgical environment image by altering a portion of the surgical environment image.

公开(公告)号：US20200161004A1

公开(公告)日：2020-05-21

申请号：US16627171

申请日：2018-06-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian

IPC: G16H50/50 ,  G06T17/20 ,  G06T15/80 ,  A61B5/055 ,  A61B6/03 ,  A61B8/08

Abstract: A method is provided to model a 3D structure comprising: producing a surface mesh representation of the 3D structure; producing a volume mesh representation of the 3D structure based upon the surface mesh; sorting vertices of the volume mesh into a first sub-list that includes only surface vertices and a second sub-list that includes only internal vertices; applying shading to the surface mesh by accessing only surface vertices in the first sub-list; determining deformation of the volume mesh by accessing both surface vertices in the first sub-list and internal vertices in the second sub-list.

公开(公告)号：US20190388162A1

公开(公告)日：2019-12-26

申请号：US16481196

申请日：2018-02-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian

IPC: A61B34/00 ,  A61B90/00 ,  G06T11/60

Abstract: The technology described in this document can be embodied in a method of displaying images of portions of a human body on a display device. The method includes receiving a representation of a plurality of images that includes images of at least two different modalities, and location information corresponding to at least a subset of the plurality of images. A first image of a first modality is displayed on the display device in accordance with the corresponding location information. A second image of a second modality is overlaid on the first image in accordance with corresponding location information. At least a third image is overlaid on the first image in accordance with corresponding location information, the third image being of the second modality, and the second and third images being displayed concurrently for at least a period of time.

公开(公告)号：US20190151039A1

公开(公告)日：2019-05-23

申请号：US16261122

申请日：2019-01-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: A61B34/00 ,  G06F3/01

Abstract: Systems and methods of virtual feedback include a virtual feedback device virtually coupled between a first and second device and a control unit. The control unit is configured to select a virtual feedback model (VFM) for the virtual feedback device from among a plurality of VFMs; configure the VFM; determine, based on information from one or more first sensors for detecting information related to a position of the first device and one or more second sensors for detecting information related to a position of the second device, a relative displacement between the first second devices; determine, based on the relative displacement and the VFM, a feedback level; send feedback commands, based on the feedback level, to one or more first actuators for inducing feedback on the first device and to one or more second actuators for inducing feedback on the second device.