公开(公告)号：US20230139402A1

公开(公告)日：2023-05-04

申请号：US17800524

申请日：2021-02-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Simon P. DIMAIO ,  Changyeob SHIN ,  Kollin M. TIERLING

IPC: G06V10/98 ,  G06T7/246 ,  G06T1/00 ,  G06T7/33 ,  G06V10/77 ,  A61B1/00 ,  B25J9/16

Abstract: Systems and methods for registration feature integrity checking include a repositionable arm configured to support a repositionable device and a control unit. The control unit is configured to receive a feature set including one or more features extracted from one or more images of a repositionable structure obtained from an imaging device, determine an expected feature corresponding to an extracted feature in the feature set based on one or more models of the repositionable structure, determine an error between the extracted feature and the expected feature, determine whether to remove the extracted feature from the feature set based on the determined error, remove the extracted feature from the feature set in response to determining that the extracted feature should be removed from the feature set, and provide the feature set to a registration module. The repositionable structure includes the repositionable arm and/or the repositionable device.

公开(公告)号：US20230028689A1

公开(公告)日：2023-01-26

申请号：US17790892

申请日：2021-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Simon P. DIMAIO ,  Ambarish G. GOSWAMI ,  James Zachary WOODRUFF

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/35 ,  A61B90/00

Abstract: Systems and methods for inter-arm registration include a computer-assisted system having a control unit coupled to a repositionable arm of a computer-assisted device. The control unit is configured to: receive, from an imaging device, successive images of an instrument mounted to the repositionable arm; determine an observed velocity of a feature of the instrument; determine an expected velocity of the feature of the instrument based on kinematics of the repositionable arm; transform the observed velocity and/or the expected velocity to a common coordinate system using a registration transform; determine an error between directions of the observed and expected velocities in the common coordinate system; and update the registration transform based on the determined error. In some embodiments, the instrument is a medical instrument and the imaging device is an endoscope. In some embodiments, the control unit is further configured to control the instrument using the registration transform.

公开(公告)号：US20210052340A1

公开(公告)日：2021-02-25

申请号：US16971277

申请日：2019-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Ryan C. ABBOTT ,  Daniel H. GOMEZ ,  John Ryan STEGER

IPC: A61B34/35 ,  B25J9/10 ,  B25J13/08 ,  B25J9/16 ,  A61B17/29 ,  A61B17/3201 ,  A61B18/14 ,  A61B90/00

Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

公开(公告)号：US20250143819A1

公开(公告)日：2025-05-08

申请号：US18837277

申请日：2023-02-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Simon P. DIMAIO ,  Omid MOHARERI

IPC: A61B34/37 ,  A61B34/20 ,  A61B34/35 ,  G06T7/70

Abstract: Techniques for repositioning a computer-assisted system include the following. The computer-assisted system comprises a repositionable structure system, the repositionable structure system comprising a plurality of links coupled by a plurality of joints, and a control unit communicably coupled to the repositionable structure system. The control unit is configured to: determine a target pose of a system portion of the computer-assisted system, determine a current pose of the system portion, determine a motion for the repositionable structure system based on a difference between the target pose and the current pose, the motion including a first component in a first direction, determine a partitioning of the first component into a plurality of partitions, and cause a first movement of a first joint set to achieve a first partition and a second movement of a second joint set to achieve a second partition.

公开(公告)号：US20240189050A1

公开(公告)日：2024-06-13

申请号：US18582518

申请日：2024-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B1/00193 ,  A61B2017/00212 ,  A61B2017/00557 ,  A61B2017/00561 ,  A61B17/29 ,  A61B17/3423 ,  A61B17/3468 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/064 ,  A61B2217/005

Abstract: A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.

公开(公告)号：US20240407857A1

公开(公告)日：2024-12-12

申请号：US18796489

申请日：2024-08-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Simon P. DIMAIO ,  Ambarish G. GOSWAMI ,  James Zachary WOODRUFF

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

Abstract: Techniques for inter-arm registration include a computer-assisted system having a repositionable arm and a control unit coupled to the repositionable arm. The control unit is configured to receive, from an imaging device, image data of an instrument, the instrument mounted to the repositionable arm; determine an observed geometric property of a feature set of the instrument based on the image data, the feature set comprising at least one feature; determine an expected geometric property of the feature set based on at least kinematic data of the repositionable arm; determine a difference between the observed geometric property and the expected geometric property; update, based on the difference. a registration transform to produce an updated registration transform associated with the instrument; and control the instrument using the updated registration transform.

公开(公告)号：US20240252267A1

公开(公告)日：2024-08-01

申请号：US18630337

申请日：2024-04-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Ryan C. ABBOTT ,  Daniel H. GOMEZ ,  John Ryan STEGER

IPC: A61B34/35 ,  A61B17/29 ,  A61B17/3201 ,  A61B17/34 ,  A61B18/00 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08

CPC classification number: A61B34/35 ,  A61B17/2909 ,  A61B17/3201 ,  A61B18/1445 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  B25J9/104 ,  B25J9/1633 ,  B25J9/1641 ,  B25J13/085 ,  A61B17/3421 ,  A61B2018/00595 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/066

Abstract: Techniques for controlling an end effector include a first engagement member coupled to a first actuator, a second engagement member coupled to a second actuator; and a control unit. The control unit is configured to engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom (DOF) of an end effector in a first direction; engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the DOF in a second direction opposite the first direction; actuate the DOF in the first direction to a first detectable position; actuate the DOF in the second direction to a second detectable position; and actuate the DOF to a third position between the first and second detectable positions.

公开(公告)号：US20230172677A1

公开(公告)日：2023-06-08

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B2034/301

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.