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195 条记录 (耗时 0.031 秒)

    Preventing instrument/tissue collisions
    83.
    发明授权
    Preventing instrument/tissue collisions 有权

    公开(公告)号：US10695136B2

    公开(公告)日：2020-06-30

    申请号：US15862880

    申请日：2018-01-05

    申请人： Intuitive Surgical Operations, Inc.

    发明人： David Q. Larkin

    IPC分类号： A61B34/20 ,  B25J9/16 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B1/04 ,  A61B17/00 ,  A61B34/10 ,  G06T7/00

    摘要： Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.

    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL
    84.
    发明申请
    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL 审中-公开

    公开(公告)号：US20200170725A1

    公开(公告)日：2020-06-04

    申请号：US16779564

    申请日：2020-01-31

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

    IPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

    摘要： A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

    Arm with a combined shape and force sensor
    85.
    发明授权
    Arm with a combined shape and force sensor 有权

    公开(公告)号：US10537397B2

    公开(公告)日：2020-01-21

    申请号：US16234227

    申请日：2018-12-27

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David Q. Larkin ,  Vincent Duindam

    IPC分类号： A61B34/30 ,  A61B34/00 ,  G01L5/22 ,  B25J18/06 ,  B25J13/02 ,  B25J9/16

    摘要： A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with mechanical property data for the surgical instrument and material property data for the surgical instrument to determine external force information for the surgical instrument.

    Arm with a combined force and shape sensor
    88.
    发明授权
    Arm with a combined force and shape sensor 有权

    公开(公告)号：US10105188B2

    公开(公告)日：2018-10-23

    申请号：US15345029

    申请日：2016-11-07

    申请人： Intuitive Surgical Operations, Inc.

    发明人： David Q. Larkin ,  Vincent Duindam

    IPC分类号： A61B34/30 ,  G01L5/22 ,  B25J18/06 ,  A61B34/00 ,  B25J9/16 ,  B25J13/02

    摘要： An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.