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公开(公告)号：US11957304B2
公开(公告)日：2024-04-16
申请号：US18308477
申请日：2023-04-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
IPC: A61B90/10 , A61B1/00 , A61B1/002 , A61B1/005 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/00 , A61B8/12 , A61B17/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B17/34 , A61B34/20 , A61B90/00
CPC classification number: A61B1/00087 , A61B1/00149 , A61B1/00154 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0051 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/0034 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B90/361
Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
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公开(公告)号：US11666204B2
公开(公告)日：2023-06-06
申请号：US16518846
申请日：2019-07-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
IPC: A61B34/37 , A61B1/00 , A61B34/30 , A61B1/005 , A61B34/00 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00 , A61B90/00 , A61B17/34 , A61B34/20
CPC classification number: A61B1/00087 , A61B1/002 , A61B1/0016 , A61B1/0051 , A61B1/00149 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B90/361 , A61B2017/0034 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
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3.发明授权公开(公告)号：US11558595B2
公开(公告)日：2023-01-17
申请号：US16202211
申请日：2018-11-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Catherine J. Mohr , Simon P. DiMaio
IPC: H04N13/128 , H04N13/239
Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
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4.发明授权公开(公告)号：US10687907B2
公开(公告)日：2020-06-23
申请号：US15359020
申请日：2016-11-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
Abstract: A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.
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公开(公告)号：US20180322949A1
公开(公告)日：2018-11-08
申请号：US15735073
申请日：2016-06-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Catherine J. Mohr , Brian E Miller
CPC classification number: G16H30/40 , G06F16/71 , G06N20/00 , G06T7/0012 , G06T2207/10016 , G06T2207/30004 , G16H30/20 , G16H40/63
Abstract: A method of searching video content for specific subject matter of interest augments traditional image data analysis methods with analysis of contemporaneously gathered non-image data. One application involves video recordings of medical procedures performed using a medical device. When a user desires to locate portions of video recordings showing a medical event of interest, one or more medical device system events likely to correspond to the occurrence of the medical event of interest are identified from one or more procedure event logs. Timestamps associated with these system events are used to identify candidate video clips from the procedure video recordings. Image data analysis is performed on the candidate video clips to determine whether each candidate video clip contains the medical event of interest.
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Patent Agency Ranking
公开(公告)号：US20180126559A9
公开(公告)日：2018-05-10
申请号：US15629533
申请日：2017-06-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC classification number: B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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公开(公告)号：US20160242860A1
公开(公告)日：2016-08-25
申请号：US15094721
申请日：2016-04-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
CPC classification number: A61B34/37 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B34/20 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
Abstract translation: 在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级 目的。 通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。 因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。
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公开(公告)号：US09333042B2
公开(公告)日：2016-05-10
申请号：US14095011
申请日：2013-12-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
CPC classification number: A61B34/37 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B34/20 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
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公开(公告)号：US20140222021A1
公开(公告)日：2014-08-07
申请号：US14095011
申请日：2013-12-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B1/00087 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B34/20 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
Abstract translation: 在耦合控制模式中，外科医生直接控制相关联的从动操纵器与输入装置的运动，同时间接控制一个或多个非关联从动操纵器的运动，响应于直接控制的从动操纵器的指令运动，以实现次级 目的。 通过耦合控制模式自动执行次要任务，通过减少外科医生切换到另一种直接模式以手动实现所需的次要目标的需求，可以提高系统的可用性。 因此，耦合控制模式允许外科医生更好地关注执行医疗过程并且更少关注管理系统。
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公开(公告)号：US20240296608A1
公开(公告)日：2024-09-05
申请号：US18437072
申请日：2024-02-08
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 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , B25J9/16 , G05B19/42 , G06T11/40
CPC classification number: G06T11/60 , A61B34/30 , A61B34/37 , A61B90/36 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G06T11/40 , A61B34/20 , A61B2034/2061 , A61B34/25 , A61B90/361 , A61B2090/371 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , Y02P90/02
Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.
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