公开(公告)号：US11386572B2

公开(公告)日：2022-07-12

申请号：US16966707

申请日：2019-01-31

申请人： The Johns Hopkins University

发明人： Ehsan Azimi ,  Long Qian ,  Peter Kazanzides ,  Nassir Navab

IPC分类号： G06T7/73 ,  G06T7/246 ,  G06T7/33 ,  G06T19/00 ,  G09G3/00

摘要： A calibration platform may obtain measurements for aligning a real-world coordinate system and a display coordinate system. For example, the calibration platform may display, via an optical see-through head-mounted display (OST-HMD), a three-dimensional virtual object and receive, from a positional tracking device, information that relates to a current pose of a three-dimensional real-world object to be aligned with the three-dimensional virtual object. The calibration platform may record a three-dimensional position of a plurality of points on the three-dimensional real-world object based on the current pose of the three-dimensional real-world object, based on an indication that the plurality of points on the three-dimensional real-world object respectively corresponds with a plurality of points on the three-dimensional virtual object. Accordingly, based on the obtained measurements, the calibration platform may generate a transformation function to provide a mapping between three-dimensional points in the real-world coordinate system and three-dimensional points in the display coordinate system.

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：US09770828B2

公开(公告)日：2017-09-26

申请号：US13631035

申请日：2012-09-28

申请人： The Johns Hopkins University

发明人： Russell H. Taylor ,  Marcin A. Balicki ,  Peter Kazanzides ,  Xia Tian

IPC分类号： B25J13/00 ,  B25J19/04 ,  B25J3/04 ,  B25J9/16 ,  A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B90/20

CPC分类号： B25J13/006 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/20 ,  A61B2017/00115 ,  B25J3/04 ,  B25J9/1689 ,  B25J19/04

摘要： A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.

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。

公开(公告)号：US10531828B2

公开(公告)日：2020-01-14

申请号：US14611628

申请日：2015-02-02

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Muyinatu Bell ,  Emad Boctor ,  Peter Kazanzides

IPC分类号： A61B5/00 ,  A61B8/08 ,  A61B5/06 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B17/34 ,  A61B17/00 ,  A61B90/30

摘要： The present invention is directed to a method and system for photoacoustic imaging for guiding medical procedures. A transducer is placed near the site of the procedure. The optical fiber, coupled to an electromagnetic source, such as a laser, is attached to a medical device. During the procedure, the device and optical fiber are inserted into the procedure site where the optical fiber illuminates the procedure site, which has a thickness of approximately 2 mm. Photoacoustic images are acquired to visualize the procedure site as the procedure is proceeding in order to provide real-time guidance. This system is applicable to multiple surgical and interventional procedures, such as transsphenoidal surgery.

公开(公告)号：US20140094968A1

公开(公告)日：2014-04-03

申请号：US13631035

申请日：2012-09-28

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Russell H. TAYLOR ,  Marcin A. Balicki ,  Peter Kazanzides ,  Xia Tian

IPC分类号： B25J13/00 ,  B25J19/04

CPC分类号： B25J13/006 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/20 ,  A61B2017/00115 ,  B25J3/04 ,  B25J9/1689 ,  B25J19/04

摘要： A combined teleoperative-cooperative controllable robotic system includes a robotic actuator assembly, a control system adapted to communicate with the robotic actuator assembly, and a teleoperation unit adapted to communicate with the control system. The control system is configured to control at least a first portion of the robotic actuator assembly in response to at least one of a force or a torque applied to at least a second portion of the robotic actuator assembly by a first user for cooperative control. The control system is further configured to control at least a third portion of the robotic actuator assembly in response to input by a second user from the teleoperation unit for teleoperative control.

摘要翻译： 组合的远程协作可控机器人系统包括机器人致动器组件，适于与机器人致动器组件通信的控制系统和适于与控制系统通信的远程操作单元。 控制系统被配置为响应于由第一用户施加到机器人致动器组件的至少第二部分的力或扭矩中的至少一个来协调控制，来控制机器人致动器组件的至少第一部分。 控制系统还被配置为响应于第二用户从远程操作单元的输入来控制机器人致动器组件的至少第三部分用于远程操作。

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.