公开(公告)号：US11759265B2

公开(公告)日：2023-09-19

申请号：US17133890

申请日：2020-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz

IPC: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61G13/02 ,  A61G13/04 ,  A61G13/06 ,  A61G13/10 ,  A61B2034/2059 ,  A61G2203/36

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit coupled to the articulated arm. The control unit is configured to receive information of a first motion of a table. The first motion of the table caused a corresponding second motion of a point associated with the articulated arm. The control unit further configured to receive information of the second motion and determine a first angular relationship between the table and the computer-assisted device based on the first motion and the second motion.

公开(公告)号：US11737842B2

公开(公告)日：2023-08-29

申请号：US17835604

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Goran A. Lynch

IPC: G06F17/00 ,  A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B18/00 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B17/00234 ,  A61B2018/00898 ,  A61B2034/2059

Abstract: Techniques for monitoring control points of a computer-assisted device include a first articulated arm associated with a first control point and a control unit coupled to the first articulated arm. The control unit is configured to determine a first expected path representative of expected positions of the first control point over time when a movement of the first control point is caused by a movement of a table that moves the first articulated arm, the table being separate from the computer-assisted device; determine a first actual path representative of actual positions of the first control point over time when the movement of the first control point is caused by the movement of the table; determine whether to perform a first remedial action based on the first actual path and the first expected path; and in response to a determination to perform the first remedial action, perform the first remedial action.

公开(公告)号：US20230186574A1

公开(公告)日：2023-06-15

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

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

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：US11672619B2

公开(公告)日：2023-06-13

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: 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

Abstract: 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

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: 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：US20220387119A1

公开(公告)日：2022-12-08

申请号：US17863361

申请日：2022-07-12

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

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：US20220249193A1

公开(公告)日：2022-08-11

申请号：US17731903

申请日：2022-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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 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：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：US20220218432A1

公开(公告)日：2022-07-14

申请号：US17610376

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Brandon D. Itkowitz ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B50/13 ,  A61B34/00 ,  A61B34/20

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.

公开(公告)号：US20220202515A1

公开(公告)日：2022-06-30

申请号：US17612165

申请日：2020-05-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Heath Feather ,  Alexandre V. Matveev

IPC: A61B34/37 ,  A61B90/00 ,  G02B27/00 ,  G06F3/01 ,  G06F3/0346

Abstract: An exemplary system may access head presence data and eye tracking data. The head presence data indicates a presence or an absence of a head of a user within a vicinity of a viewer console. The eye tracking data indicates whether an eye of a user is gazing at a display device. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is gazing at the display device, the system directs the user control system to operate in a first operating mode. If the head presence data indicates that the head of the user is present and the eye tracking data indicates that the eye of the user is not gazing at the display device, the system directs the user control system to operate in a second operating mode different from the first operating mode.