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

IPC分类号： A61B8/12 ,  A61B1/00 ,  A61B8/00 ,  A61B17/00

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 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.

公开(公告)号：US11259870B2

公开(公告)日：2022-03-01

申请号：US15725271

申请日：2017-10-04

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

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.

公开(公告)号：US09795446B2

公开(公告)日：2017-10-24

申请号：US13775574

申请日：2013-02-25

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

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.

公开(公告)号：US20220015832A1

公开(公告)日：2022-01-20

申请号：US17468198

申请日：2021-09-07

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

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： A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B1/00 ,  A61B34/30

摘要： A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

公开(公告)号：US20130245375A1

公开(公告)日：2013-09-19

申请号：US13775574

申请日：2013-02-25

申请人： The Johns Hopkins University c/o John Hopkins Technology Transfer ,  INTUITIVE SURGICAL OPERATINS, INC.

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： A61B19/00 ,  A61B1/00

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.

公开(公告)号：US11957304B2

公开(公告)日：2024-04-16

申请号：US18308477

申请日：2023-04-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC分类号： A61B90/10 ,  A61B1/00 ,  A61B1/002 ,  A61B1/005 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/00 ,  A61B8/12 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/34 ,  A61B34/20 ,  A61B90/00

CPC分类号： A61B1/00087 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0051 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B1/0055 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B90/361

摘要： A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

公开(公告)号：US11865729B2

公开(公告)日：2024-01-09

申请号：US16921995

申请日：2020-07-07

申请人： Intuitive Surgical Operations, Inc.

发明人： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

IPC分类号： A61B34/20 ,  A61B34/10 ,  B25J9/16 ,  A61B17/00 ,  A61B1/00 ,  A61B90/00 ,  A61B1/005 ,  A61B34/30 ,  A61B1/313 ,  A61B34/00 ,  A61B34/37

CPC分类号： B25J9/1692 ,  A61B1/0005 ,  A61B1/00009 ,  A61B1/0051 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/36 ,  A61B90/37 ,  B25J9/1694 ,  B25J9/1697 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00292 ,  A61B2017/00296 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/373 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123

摘要： An apparatus comprises a memory device and a processor coupled to a display device, an image capture device, and the memory device. The processor is configured to: cause images captured by the image capture device to be displayed in a viewing area on the display device; determine a position of a tool in a reference frame of the image capture device; determine a position to display a non-depictive symbol for the tool in a boundary area circumscribing the viewing area to indicate a direction of the determined position of the tool relative to a field of view of the image capture device, by determining a trajectory of the tool; and cause the non-depictive symbol to be displayed at the determined position in the boundary area while images that were captured by the image capture device are restricted to being displayed in the viewing area.

公开(公告)号：US11666204B2

公开(公告)日：2023-06-06

申请号：US16518846

申请日：2019-07-22

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC分类号： A61B34/37 ,  A61B1/00 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

CPC分类号： A61B1/00087 ,  A61B1/002 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B1/0055 ,  A61B90/361 ,  A61B2017/0034 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

摘要： A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

公开(公告)号：US20220133414A1

公开(公告)日：2022-05-05

申请号：US17576696

申请日：2022-01-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Q. Larkin ,  Vincent Duindam

IPC分类号： A61B34/20 ,  A61B5/06

摘要： A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

公开(公告)号：US11284952B2

公开(公告)日：2022-03-29

申请号：US16779564

申请日：2020-01-31

申请人： Intuitive Surgical Operations, Inc.

发明人： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

摘要： A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.