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    Method and apparatus to provide updated patient images during robotic surgery
    1.
    发明授权
    Method and apparatus to provide updated patient images during robotic surgery 有权

    公开(公告)号：US10376335B2

    公开(公告)日：2019-08-13

    申请号：US15575603

    申请日：2015-09-10

    Applicant: Siemens Healthcare GmbH ,  Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Lutz Blohm ,  Holger Kunze ,  Christine Niebler ,  Jonathan Sorger

    IPC: A61B90/00 ,  A61B34/30 ,  A61B34/00

    Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS
    2.
    发明申请
    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 有权
    图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免

    公开(公告)号：US20140163736A1

    公开(公告)日：2014-06-12

    申请号：US14101769

    申请日：2013-12-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

    Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

    System and method of registration between devices with movable arms
    3.
    发明授权
    System and method of registration between devices with movable arms 有权

    公开(公告)号：US11007023B2

    公开(公告)日：2021-05-18

    申请号：US16053049

    申请日：2018-08-02

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B34/30 ,  A61B6/10 ,  A61B6/00 ,  A61B34/20 ,  B25J9/16 ,  A61B90/00

    Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

    SYSTEM AND METHOD OF REGISTRATION BETWEEN DEVICES WITH MOVABLE ARMS
    4.
    发明申请
    SYSTEM AND METHOD OF REGISTRATION BETWEEN DEVICES WITH MOVABLE ARMS 审中-公开

    公开(公告)号：US20180338804A1

    公开(公告)日：2018-11-29

    申请号：US16053049

    申请日：2018-08-02

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B34/30 ,  A61B6/10 ,  A61B34/20 ,  A61B6/00 ,  B25J9/16 ,  A61B90/00

    Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.

    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
    7.
    发明授权
    Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms 有权
    图像捕获装置和可操纵装置可移动臂的受控运动期间的碰撞避免

    公开(公告)号：US09259282B2

    公开(公告)日：2016-02-16

    申请号：US14101769

    申请日：2013-12-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

    Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS
    8.
    发明申请
    COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-公开
    图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免

    公开(公告)号：US20160008078A1

    公开(公告)日：2016-01-14

    申请号：US14862692

    申请日：2015-09-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Mahdi Azizian ,  Jonathan Sorger ,  Lutz Blohm ,  Christine Niebler ,  Holger Kunze

    IPC: A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/30 ,  A61B6/102 ,  A61B6/4441 ,  A61B6/4458 ,  A61B19/2203 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1676 ,  B25J9/1697 ,  Y10S901/02 ,  Y10S901/47

    Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

    Abstract translation: 用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和连接到图像捕获装置的第二可移动臂。 控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

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