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：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：US20230278222A1

公开(公告)日：2023-09-07

申请号：US18019039

申请日：2021-08-02

申请人： The Johns Hopkins University ,  University of Maryland

发明人： Russell H. Taylor ,  Axel Kriege ,  Peter Kazanides ,  Balazs Vagvolgyi ,  Anton Deguet ,  Mikhail Khrenov

IPC分类号： B25J9/16 ,  B25J13/06

CPC分类号： B25J9/1689 ,  B25J13/06 ,  B25J9/1697

摘要： A robotic system for remote operation of human-controllable equipment includes a remotely operable robotic subsystem configured to be at least one of mounted on or arranged adjacent to the human-controllable equipment to be controlled, and a remote controller that is configured to be operated by a human. The remote controller emulates a control representation of the human-controllable equipment such that a human can provide commands using the control representation. The remotely operable robotic subsystem is configured to receive commands from the remote controller to thereby operate the human-controllable equipment.

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：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：US09815206B2

公开(公告)日：2017-11-14

申请号：US14497178

申请日：2014-09-25

申请人： The Johns Hopkins University

发明人： Marcin A. Balicki ,  Peter Kazanzides ,  Anton Deguet ,  Russell H. Taylor

IPC分类号： G06F19/00 ,  B25J13/00 ,  A61B19/00 ,  B25J13/04 ,  B25J13/06 ,  B25J13/02 ,  G06F3/0346 ,  G06F3/0338 ,  G06F3/0482 ,  G06F3/0362 ,  G06F3/0354

CPC分类号： B25J13/003 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/77 ,  A61B90/20 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/258 ,  A61B2090/0807 ,  B25J13/02 ,  B25J13/04 ,  B25J13/06 ,  B25J13/065 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/03545 ,  G06F3/0362 ,  G06F3/0482 ,  Y10S901/06

摘要： According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.

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：US20160089212A1

公开(公告)日：2016-03-31

申请号：US14497178

申请日：2014-09-25

申请人： The Johns Hopkins University

发明人： Marcin A. Balicki ,  Peter Kazanzides ,  Anton Deguet ,  Russell H. Taylor

IPC分类号： A61B19/00 ,  B25J13/04 ,  B25J13/06 ,  B25J13/00

CPC分类号： B25J13/003 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/77 ,  A61B90/20 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/258 ,  A61B2090/0807 ,  B25J13/02 ,  B25J13/04 ,  B25J13/06 ,  B25J13/065 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/03545 ,  G06F3/0362 ,  G06F3/0482 ,  Y10S901/06

摘要： According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.

摘要翻译： 根据本发明的一些实施例，协同控制的机器人包括机器人致动器组件，其包括工具保持器和力传感器，适于与机器人致动器组件和力传感器通信的控制系统，以及与 控制系统。 工具架被配置为接收要被用户操纵的工具。 控制系统被配置为从用户接收到从机器人控制模式切换到用户界面控制模式的指令。 力传感器被配置为测量施加到工具的力和扭矩中的至少一个，并且控制系统被配置为接收施加到工具的力和扭矩中的至少一个的指示，并且操纵输出 系统基于指示。