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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
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.
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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
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.
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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
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.
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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
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.
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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
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.
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Patent Agency Ranking
公开(公告)号：US10283220B2
公开(公告)日：2019-05-07
申请号：US14912083
申请日：2014-08-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan M. Sorger , Simon P. Dimaio
Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
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公开(公告)号：US20160345929A1
公开(公告)日：2016-12-01
申请号：US15116561
申请日：2015-02-04
Inventor： Mahdi Azizian , Jonathan M. Sorger , Holger Kunze , Lutz Blohm
CPC classification number: A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G06F19/00 , G16H40/63
Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.
Abstract translation: 动态虚拟碰撞对象的系统和方法包括用于医疗设备的控制单元。 控制单元包括一个或多个处理器和将控制单元耦合到医疗设备的接口。 所述控制单元被配置为确定所述医疗设备的第一可移动段的位置，所述第一可移动段所占据的体积被一个或多个第一虚拟碰撞对象（VCO）近似; 基于医疗设备的位置和运动目标调整第一VCO的一个或多个属性; 基于位置和属性确定第一VCO的第一几何形状; 接收与第二设备的第二段相关联的一个或多个第二VCO的第二几何; 确定第一VCO和第二VCO之间的关系; 并根据关系调整医疗器械的运动计划。
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公开(公告)号：US20250049535A1
公开(公告)日：2025-02-13
申请号：US18932429
申请日：2024-10-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Pourya Shirazian , Mahdi Azizian , A. Jonathan McLeod , Daniel Proksch
Abstract: An exemplary system accesses images of a surgical space captured by different imaging modalities and, based on the images, generates a composite image and directs a display device to display the composite image. An exemplary composite image includes a first portion of the composite image that includes a first representation of a first portion of the surgical space, the first representation generated based on the first image, and a second portion of the composite image that includes a second representation of a second portion of the surgical space, the second representation generated based on the second image modified by gradient information of the first image.
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公开(公告)号：US20240358472A1
公开(公告)日：2024-10-31
申请号：US18771024
申请日：2024-07-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Oliver J. Wagner
IPC: A61B90/00 , A61B1/00 , A61B5/00 , A61B5/055 , A61B5/06 , A61B5/11 , A61B6/00 , A61B6/02 , A61B6/12 , A61B6/50
CPC classification number: A61B90/39 , A61B1/00193 , A61B5/055 , A61B5/064 , A61B5/1127 , A61B5/4504 , A61B5/6878 , A61B6/022 , A61B6/12 , A61B6/505 , A61B6/487 , A61B2090/3941 , A61B2090/3954 , A61B2090/3966
Abstract: A system and method for anatomical markers includes an anatomical marker. The anatomical marker includes a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material is different from the second material. The first imaging modality is different from the second imaging modality. The first and second imaging modalities obtain their images without using light in a visible spectrum. In some embodiments, the anatomical marker further includes one or more superabsorbent polymers for absorbing and containing the one or more superabsorbent polymers. In some embodiments, the anatomical marker further includes a liquid or gel including the first and second materials, wherein the liquid or gel is configured to be applied to the anatomy of the patient. In some embodiments, the anatomical markers may be used to register a medical tool to anatomy of a patient.
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公开(公告)号：US12131172B2
公开(公告)日：2024-10-29
申请号：US17544654
申请日：2021-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Jonathan Sorger , Simon P. Dimaio
CPC classification number: G06F9/455 , G06F11/3476 , G09B23/28 , G16H40/63 , G16H40/67 , G16H50/50 , G16Z99/00 , H04L67/01
Abstract: Techniques for virtually recreating devices include a replay service configured to access a log associated with a first device, extract a first log entry from the log, recreate a first recreated service request for the one or more shared services based on information associated with the first log entry, and send the first recreated service request to a shared service to recreate an event associated with the first log entry; one or more shared services configured to receive and respond to a second service request from a second device coupled to the logging and replay device; and a recreation engine configured to receive the first recreated service request, a response to the first recreated service request, the second service request, and a response to the second service request and create a virtual recreation of the first device.
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