公开(公告)号：US20230380926A1

公开(公告)日：2023-11-30

申请号：US18449586

申请日：2023-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: 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

Abstract: 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

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 ,  A61B34/10 ,  A61B90/50 ,  A61B1/00 ,  A61B17/02 ,  A61B17/00

CPC classification number: 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

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：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：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：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：US20220080589A1

公开(公告)日：2022-03-17

申请号：US17512832

申请日：2021-10-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： DINESH RABINDRAN ,  Simon P. DiMaio ,  Kollin M. Tierling

IPC: B25J9/16 ,  B25J9/06 ,  A61B34/35 ,  A61B34/37 ,  G05B19/00 ,  B25J3/04

Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

公开(公告)号：US20210338366A1

公开(公告)日：2021-11-04

申请号：US17286774

申请日：2019-10-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Govinda Payyavula ,  Cortney Jansen ,  Simon P. DiMaio

IPC: A61B90/00 ,  A61B34/20 ,  H04N13/344 ,  A61B34/00 ,  A61B34/10

Abstract: A mixed reality presentation system determines a device-specific parameter characterizing an extent of a field of view of an active imaging device. The active imaging device captures imagery of an internal view of a body, and the determining of the device-specific parameter is based on data received from the active imaging device. The mixed reality presentation system also determines a spatial pose of the active imaging device as the active imaging device captures the imagery of the internal view of the body. Based on the device-specific parameter and the spatial pose of the active imaging device, the mixed reality presentation system directs a display device to display a shape overlay indicative of the extent of the field of view relative to the body. The shape overlay is displayed together with an external view of the body in a mixed reality presentation. Corresponding systems and methods are also disclosed.

公开(公告)号：US10984567B2

公开(公告)日：2021-04-20

申请号：US16351444

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42 ,  A61B34/20 ,  A61B34/00

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.