公开(公告)号：US20210267440A1

公开(公告)日：2021-09-02

申请号：US17258841

申请日：2019-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jue LIN ,  Andrew J. HAZELTON ,  Changmeng LIU

IPC: A61B1/018 ,  A61B1/05 ,  A61B1/00 ,  A61B90/00 ,  G06T7/00

Abstract: A method for determining a position of a tool being received by a catheter, the method including capturing first images with the tool as the tool is being installed in the catheter. The method also includes generating training images for a deep convolutional neural network (DCNN) by replicating the first images and applying perturbations to the replicated first images. The method also includes training the DCNN by inputting the training images into the DCNN. The method also includes capturing second images with the tool as the tool is being installed in the catheter. The method also includes inputting the second images into the DCNN. The method also includes analyzing the second images with the trained DCNN. The method further includes determining a configuration of the tool based on the analyzed second images.

公开(公告)号：US20210267695A1

公开(公告)日：2021-09-02

申请号：US17258705

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew J. HAZELTON ,  Teresa G. GADDA ,  Changmeng LIU

IPC: A61B34/20 ,  A61B17/00

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.

公开(公告)号：US20250049533A1

公开(公告)日：2025-02-13

申请号：US18934060

申请日：2024-10-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. ROGERS

IPC: A61B90/00 ,  A61B5/00 ,  A61B5/026 ,  A61B17/068 ,  A61B17/072 ,  A61B17/29 ,  A61B17/295 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/30

Abstract: Techniques for image detection during grasping and stapling include a computer-assisted device comprising an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture one or more images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to determine an orientation of a view of the imaging sensor relative to a workspace, generate orientation hints based on the orientation of the view, and cause display of the one or more orientation hints proximate to a first image of the end effector, on a user interface to provide an indication of the orientation of the end effector within a workspace.

公开(公告)号：US20230240789A1

公开(公告)日：2023-08-03

申请号：US18296277

申请日：2023-04-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. ROGERS

IPC: A61B90/00 ,  A61B17/072 ,  A61B17/295 ,  A61B34/10

CPC classification number: A61B90/361 ,  A61B17/072 ,  A61B17/295 ,  A61B17/07207 ,  A61B34/10 ,  A61B2090/373 ,  A61B2090/306

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

公开(公告)号：US20200315735A1

公开(公告)日：2020-10-08

申请号：US16837132

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B17/072 ,  A61B17/295

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.