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公开(公告)号：US20180042680A1
公开(公告)日：2018-02-15
申请号：US15725271
申请日：2017-10-04
申请人： Intuitive Surgical Operations, Inc. , The Johns Hopkins University c/o Johns Hopkins Technology Transfer
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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公开(公告)号：US20170128041A1
公开(公告)日：2017-05-11
申请号：US15413380
申请日：2017-01-23
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/00 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/03 , A61B90/361 , A61B90/37 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US12108998B2
公开(公告)日：2024-10-08
申请号：US18332891
申请日：2023-06-12
IPC分类号： A61B34/37 , A61B1/313 , A61B8/00 , A61B8/12 , A61B34/00 , A61B34/30 , A61B90/00 , A61B17/00 , A61B34/10
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/361 , A61B90/37 , A61B8/00 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B90/03 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US20200163732A1
公开(公告)日：2020-05-28
申请号：US16752805
申请日：2020-01-27
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US11717365B2
公开(公告)日：2023-08-08
申请号：US17861530
申请日：2022-07-11
IPC分类号： A61B34/37 , A61B8/00 , A61B34/00 , A61B90/00 , A61B8/12 , A61B34/30 , A61B1/313 , A61B34/10 , A61B17/00
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/361 , A61B90/37 , A61B8/00 , A61B90/03 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US20170128144A1
公开(公告)日：2017-05-11
申请号：US15413375
申请日：2017-01-23
CPC分类号： A61B34/37 , A61B1/3132 , A61B8/00 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B8/461 , A61B34/25 , A61B34/30 , A61B34/70 , A61B34/76 , A61B90/03 , A61B90/361 , A61B90/37 , A61B2017/00203 , A61B2034/107 , A61B2034/305 , A61B2090/364 , A61B2090/365 , A61B2090/378
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US20220354603A1
公开(公告)日：2022-11-10
申请号：US17861530
申请日：2022-07-11
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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公开(公告)号：US11259870B2
公开(公告)日：2022-03-01
申请号：US15725271
申请日：2017-10-04
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC分类号： A61B1/00 , A61B34/10 , A61B8/12 , A61B8/00 , A61B34/00 , A61B34/37 , A61B34/30 , A61B17/00 , A61B90/00
摘要： In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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公开(公告)号：US10603127B2
公开(公告)日：2020-03-31
申请号：US15413378
申请日：2017-01-23
IPC分类号： A61B34/37 , A61B8/00 , A61B34/00 , A61B90/00 , A61B8/12 , A61B34/30 , A61B1/313 , A61B34/10 , A61B17/00
摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
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10.发明授权公开(公告)号：US09795446B2
公开(公告)日：2017-10-24
申请号：US13775574
申请日：2013-02-25
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC分类号： G06F3/048 , A61B19/00 , A61B8/12 , A61B1/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B8/00 , A61B17/00 , A61B90/00
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
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