公开(公告)号：US20170079725A1

公开(公告)日：2017-03-23

申请号：US15371154

申请日：2016-12-06

申请人： Intuitive Surgical Operations, Inc.

发明人： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC分类号： A61B34/20 ,  A61B1/00 ,  A61B34/30 ,  A61B5/06 ,  A61B1/04

CPC分类号： A61B34/20 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B5/062 ,  A61B5/725 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20170079726A1

公开(公告)日：2017-03-23

申请号：US15371158

申请日：2016-12-06

申请人： Intuitive Surgical Operations, Inc.

发明人： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC分类号： A61B34/20 ,  A61B1/313 ,  A61B1/00 ,  A61B34/30 ,  A61B1/04

摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20160235496A1

公开(公告)日：2016-08-18

申请号：US15139682

申请日：2016-04-27

申请人： Intuitive Surgical Operations, Inc.

发明人： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Giuseppe Prisco ,  Nitish Swarup ,  Guanghua G. Zhang

IPC分类号： A61B34/37 ,  A61B1/04 ,  A61B18/12 ,  A61B34/10 ,  A61B5/00 ,  A61B1/00 ,  A61B5/055 ,  A61B1/313

摘要： To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.

摘要翻译： 为了帮助外科医生执行医疗程序，通常由显示屏和外科医生在计算机显示屏幕上显示和操作通常指示正在治疗的解剖结构的内部细节的辅助图像，以补充大体上解剖结构的外部视图的主要图像。 控制第一模式中的机器人手臂的主输入装置可以由外科医生切换到第二模式，以便改为用作鼠标式指示装置，以便于外科医生执行这种辅助信息的显示和操作。