公开(公告)号：US20200323593A1

公开(公告)日：2020-10-15

申请号：US16908245

申请日：2020-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Eve Coste-Maniere ,  Louai Adhami ,  Jean-Daniel Boissonnat ,  Alain Carpentier ,  Gary S. Guthart

IPC: A61B34/10 ,  B25J9/16 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  G06T7/00

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

公开(公告)号：US09532838B2

公开(公告)日：2017-01-03

申请号：US14041017

申请日：2013-09-30

Applicant: Intuitive Surgical Operations, Inc. ,  INRIA Roquencourt

Inventor： Eve C. Coste-Maniere ,  Louai Adhami ,  Jean-Daniel Boissonnat ,  Alain Carpentier ,  Gary S. Guthart

IPC: A61B34/10 ,  A61B19/00 ,  B25J9/16

CPC classification number: A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/107 ,  A61B2034/301 ,  B25J9/1671 ,  G05B2219/40418 ,  G06T1/0014 ,  G06T7/0012 ,  G06T2207/10004

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

Abstract translation: 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这样的方法，装置和系统也可用于非手术环境中，例如用于在弹药扩散或危险废物处理中的机器人端口放置。

公开(公告)号：US10709506B2

公开(公告)日：2020-07-14

申请号：US15397498

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Eve Coste-Maniere ,  Louai Adhami ,  Jean-Daniel Boissonnat ,  Alain Carpentier ,  Gary S. Guthart

IPC: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  G06T7/00 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  G06T1/00

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

公开(公告)号：US20170112576A1

公开(公告)日：2017-04-27

申请号：US15397498

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Eve Coste-Maniere ,  Louai Adhami ,  Jean-Daniel Boissonnat ,  Alain Carpentier ,  Gary S. Guthart

IPC: A61B34/10 ,  G06T7/00 ,  A61B34/35 ,  B25J9/16 ,  A61B34/37 ,  A61B34/00

CPC classification number: A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/107 ,  A61B2034/301 ,  B25J9/1671 ,  G05B2219/40418 ,  G06T1/0014 ,  G06T7/0012 ,  G06T2207/10004

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

公开(公告)号：US20140135985A1

公开(公告)日：2014-05-15

申请号：US14041017

申请日：2013-09-30

Applicant: INRIA Roquencourt ,  Intuitive Surgical Operations, Inc.

Inventor： Eve C. Coste-Maniere ,  Louai Adhami ,  Jean-Daniel Boissonnat ,  Alain Carpentier ,  Gary S. Guthart

IPC: A61B19/00

CPC classification number: A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/107 ,  A61B2034/301 ,  B25J9/1671 ,  G05B2219/40418 ,  G06T1/0014 ,  G06T7/0012 ,  G06T2207/10004

Abstract: Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.

Abstract translation: 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这样的方法，装置和系统也可用于非手术环境中，例如用于在弹药扩散或危险废物处理中的机器人端口放置。