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：US20230329817A1

公开(公告)日：2023-10-19

申请号：US18309110

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/37 ,  A61B34/30 ,  B25J9/1689 ,  A61B90/10 ,  B25J9/1669 ,  B25J3/00 ,  A61B34/25 ,  A61B34/35 ,  G05B2219/45117 ,  A61B2017/00725

Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

公开(公告)号：US20220091867A1

公开(公告)日：2022-03-24

申请号：US17544654

申请日：2021-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi AZIZIAN ,  Jonathan SORGER ,  Simon P. DIMAIO

IPC: G06F9/455 ,  G09B23/28 ,  G16H40/63 ,  G16H50/50 ,  G16H40/67 ,  G06F11/34 ,  G16Z99/00

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.

公开(公告)号：US20230142214A1

公开(公告)日：2023-05-11

申请号：US18060119

申请日：2022-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Wenyi ZHAO ,  Catherine J. MOHR ,  Simon P. DIMAIO

IPC: H04N13/128

CPC classification number: H04N13/128 ,  H04N13/239

Abstract: A stereo imaging system comprises a depth sensing system, a stereo viewer, and a processor configured to receive captured stereo worksite images, compare a depth value to a predetermined threshold value, and generate stereo images for display by adjusting or not adjusting native disparities based on the comparison of the depth value to the threshold value.

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：US20200253675A1

公开(公告)日：2020-08-13

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. Niemeyer ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B34/30

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 a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20240285362A1

公开(公告)日：2024-08-29

申请号：US18655041

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/16

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: Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

公开(公告)号：US20230346494A1

公开(公告)日：2023-11-02

申请号：US18328886

申请日：2023-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  Paul E. LILAGAN ,  Tao ZHAO

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/00 ,  G05B15/02 ,  A61B34/35 ,  A61B90/98 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207

Abstract: Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

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：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.