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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
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.
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公开(公告)号：US11957304B2
公开(公告)日：2024-04-16
申请号：US18308477
申请日：2023-04-27
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.
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3.发明授权公开(公告)号：US11865729B2
公开(公告)日：2024-01-09
申请号：US16921995
申请日：2020-07-07
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.
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公开(公告)号：US11666204B2
公开(公告)日：2023-06-06
申请号：US16518846
申请日：2019-07-22
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.
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公开(公告)号：US20220133414A1
公开(公告)日：2022-05-05
申请号：US17576696
申请日：2022-01-14
发明人： David Q. Larkin , Vincent Duindam
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.
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6.发明授权公开(公告)号：US11284952B2
公开(公告)日：2022-03-29
申请号：US16779564
申请日：2020-01-31
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.
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7.发明申请公开(公告)号：US20220071721A1
公开(公告)日：2022-03-10
申请号：US17530166
申请日：2021-11-18
IPC分类号： A61B34/37 , A61B34/10 , A61B34/00 , A61B90/00 , G06F3/01 , G06F3/0484 , G06F3/0481 , G06F3/0346 , G06F3/0486 , A61B1/00 , A61B1/04 , A61B1/313 , A61B5/055 , A61B5/00 , A61B18/12
摘要： A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.
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8.发明授权公开(公告)号：US11197731B2
公开(公告)日：2021-12-14
申请号：US16564734
申请日：2019-09-09
IPC分类号： A61B34/37 , A61B34/10 , A61B34/00 , A61B90/00 , G06F3/01 , G06F3/0484 , G06F3/0481 , G06F3/0346 , G06F3/0486 , A61B1/00 , A61B1/04 , A61B1/313 , A61B5/055 , A61B5/00 , A61B18/12 , A61B90/10 , A61B18/14 , A61B34/30 , A61N7/02 , A61B18/00
摘要： A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.
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公开(公告)号：US10772689B2
公开(公告)日：2020-09-15
申请号：US15928940
申请日：2018-03-22
发明人： Daniel H. Gomez , Nicola Diolaiti , David Q. Larkin , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
IPC分类号： G06F19/00 , A61B34/30 , B25J9/16 , B25J9/10 , A61B34/00 , A61B34/32 , A61B34/35 , A61B34/37 , A61B1/018 , A61B1/005 , A61B5/151
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
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公开(公告)号：US10441370B2
公开(公告)日：2019-10-15
申请号：US15269155
申请日：2016-09-19
IPC分类号： A61B34/35 , A61B34/30 , A61M1/00 , A61M13/00 , A61B34/00 , A61B34/37 , A61M39/24 , A61B17/00 , A61B90/50
摘要： A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.
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