公开(公告)号：US20240325091A1

公开(公告)日：2024-10-03

申请号：US18706452

申请日：2022-10-28

Applicant: B. Braun New Ventures GmbH

Inventor： Jean Stawiaski ,  Amir Sarvestani

IPC: A61B34/20 ,  A61B90/00 ,  A61B90/20 ,  A61B90/96

CPC classification number: A61B34/20 ,  A61B90/20 ,  A61B90/37 ,  A61B90/96 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2065 ,  A61B2090/371

Abstract: A navigation system can be used during surgical intervention on a patient to track a medical instrument. The system includes a display, a medical instrument, a data provision unit for providing 3D digital recording data, an imaging device having a recording head for producing a recording of a surgical area and for detecting and tracking the instrument, a tracking system for detecting and tracking the recording head and detecting a portion of the patient for registration with the 3D recording data, and a control unit for processing data from the imaging device and tracking system, and the 3D recording data, determining a position and/or orientation of the instrument, producing a correlation display using the 3D recording data and the position and/or orientation of the instrument, and outputting it through the display. A navigation tower, method and computer-readable storage medium can include or be used with the navigation system.

公开(公告)号：US20240315792A1

公开(公告)日：2024-09-26

申请号：US18591811

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Ladd T. JOHNSON

IPC: A61B34/00 ,  A61B17/00 ,  A61B17/29 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/71 ,  A61B34/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B17/29 ,  A61B2017/2903 ,  A61B2017/2929 ,  A61B2034/715 ,  A61B2090/371

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

公开(公告)号：US12079944B2

公开(公告)日：2024-09-03

申请号：US18325922

申请日：2023-05-30

Applicant: Align Technology, Inc.

Inventor： Pavel Pokotilov ,  Anton Lapshin ,  Evgeniy Malashkin ,  Sergei Ozerov ,  Yury Slynko ,  Andrey Sergeevich Nekrasov ,  Leonid Vyacheslavovich Grechishnikov ,  Anna Orlova ,  Yingjie Li ,  Phillip Thomas Harris ,  Maurice K. Carrier

IPC: G06T19/00 ,  A61B34/10 ,  A61B90/00 ,  A61C7/00 ,  A61C9/00 ,  G02B27/00 ,  G02B27/01 ,  G06F3/01 ,  G06V40/16 ,  A61B17/00 ,  A61B34/20 ,  A61B90/50

CPC classification number: G06T19/006 ,  A61B34/10 ,  A61B90/36 ,  A61C7/002 ,  A61C9/008 ,  G02B27/0093 ,  G02B27/017 ,  G06F3/011 ,  G06V40/168 ,  A61B2017/00216 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2065 ,  A61B2090/3612 ,  A61B2090/365 ,  A61B2090/371 ,  A61B2090/372 ,  A61B2090/502 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0141 ,  G02B2027/0178 ,  G02B2027/0181

Abstract: A mobile device comprises a display, an image capture device that generates image data of a face of a viewer of the display, and a processing device. The processing device receives the image data and sends the image data to a computing device. The computing device processes the image data to identify a position of a dental arch in the image data; determines a treatment outcome for the dental arch; generates a post-treatment image of the dental arch that shows the treatment outcome; generates updated image data comprising a superimposition of the post-treatment image of the dental arch over the received image data; and sends the updated image data to the mobile device. The mobile device outputs the updated image data to the display, wherein the post-treatment image of the dental arch is superimposed over the dental arch in the received image data such that the post-treatment image is visible in the display rather than a true depiction of the dental arch.

公开(公告)号：US12076044B2

公开(公告)日：2024-09-03

申请号：US17114292

申请日：2020-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jason Paul Watson

IPC: A61B17/34 ,  A61B1/00 ,  A61B1/018 ,  A61B1/05 ,  A61B34/35 ,  A61B90/00 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B17/3423 ,  A61B1/00179 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/018 ,  A61B1/05 ,  A61B17/3421 ,  A61B34/35 ,  A61B90/37 ,  A61B17/00234 ,  A61B2017/00473 ,  A61B2017/00907 ,  A61B2017/3445 ,  A61B2017/3454 ,  A61B34/30 ,  A61B2034/302 ,  A61B90/361 ,  A61B2090/371

Abstract: A surgical cannula includes a camera disposed at the distal end to permit visualization of tissue. A hinge pivotably couples the camera to the cannula and permits the camera to pivot from a first position at the distal end of the cannula to a second position different than the first position at the distal end of the cannula. Some implementations include a pointed distal tip that carries the camera. Some implementations include two cameras posed back to back.

公开(公告)号：US20240269856A1

公开(公告)日：2024-08-15

申请号：US18635661

申请日：2024-04-15

Applicant: SQUAREMIND

Inventor： Tanguy SERRAT ,  Ali KHACHLOUF

IPC: B25J9/16 ,  A61B34/10 ,  A61B34/32 ,  A61B90/00 ,  G06T17/00

CPC classification number: B25J9/1697 ,  A61B34/32 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/371 ,  G06T2210/41

Abstract: A robot device ensuring an automatic guiding of a robotic arm, including a frame holding a robotic arm articulated along axes of freedom, the robotic arm including a distal operator device for generating a human-machine interaction, the robot device further including an image acquisition system including at least two optical devices integral with the frame and arranged in at least two distinct positions of the frame, each optical device configured to acquire a 3D image, the image acquisition system being configured to acquire a plurality of 3D images of a human body of a patient from at least two optical devices, the robot device including a calculation unit for generating in real time a human body model of the patient from the acquired 3D images and a guiding trajectory referenced to the surface of the human body model, wherein movements of the robotic arm are enslaved to the guiding trajectory.

公开(公告)号：US12063338B2

公开(公告)日：2024-08-13

申请号：US18419004

申请日：2024-01-22

Applicant: OnPoint Medical, Inc.

Inventor： Carlos Quiles Casas

IPC: H04N13/00 ,  A61B34/10 ,  A61B34/20 ,  G02B27/01 ,  G06F3/01 ,  G06F3/03 ,  G06F3/04845 ,  G06T19/00 ,  H04N13/111 ,  H04N13/156 ,  H04N13/239 ,  H04N13/279 ,  H04N13/296 ,  H04N13/366 ,  A61B1/00 ,  A61B90/00 ,  G16Z99/00

CPC classification number: H04N13/111 ,  A61B34/10 ,  A61B34/20 ,  G02B27/0172 ,  G06F3/011 ,  G06F3/017 ,  G06F3/0304 ,  G06F3/04845 ,  G06T19/006 ,  H04N13/156 ,  H04N13/239 ,  H04N13/279 ,  H04N13/296 ,  H04N13/366 ,  A61B1/00 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  G02B2027/0134 ,  G02B2027/0138 ,  G02B2027/014 ,  G06F2203/04804 ,  G06T2210/41 ,  G16Z99/00

Abstract: Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see-through display.

公开(公告)号：US20240261047A1

公开(公告)日：2024-08-08

申请号：US18410861

申请日：2024-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2017/00119 ,  A61B2090/0811 ,  A61B2090/371

Abstract: A teleoperational system comprises a teleoperational assembly configured to support an instrument and an imaging device. The instrument has an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument position of the instrument, determine an instrument position error relative to the imaging device, and determine, based on the instrument position and the instrument position error, that at least a portion of the instrument is outside a field of view of the imaging device. The processing unit is further configured to in response to determining that at least a portion of the instrument is outside the field of view of the imaging device and based on a mode of operation of the teleoperational system, cause an out-of-view indication for the instrument to be presented.

公开(公告)号：US20240245476A1

公开(公告)日：2024-07-25

申请号：US18602901

申请日：2024-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Tao Zhao ,  Federico Barbagli ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B34/71 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

公开(公告)号：US12016738B2

公开(公告)日：2024-06-25

申请号：US17840130

申请日：2022-06-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B90/00 ,  A61B1/00 ,  A61B6/40 ,  A61B34/30 ,  A61B90/30

CPC classification number: A61B90/37 ,  A61B1/00011 ,  A61B6/4057 ,  A61B34/30 ,  A61B2090/306 ,  A61B2090/309 ,  A61B2090/371 ,  A61B2090/373

Abstract: An illustrative surgical system may access a plurality of images captured outside a structure within a patient; detect a difference between spectral reflectances of scenes captured in the plurality of images; and identify, based on the detected difference between the spectral reflectances of the scenes captured in the plurality of images, pixels in at least one of the plurality of images that correspond to structure tissue of the structure.

公开(公告)号：US20240205377A1

公开(公告)日：2024-06-20

申请号：US18533283

申请日：2023-12-08

Applicant: OnPoint Medical, Inc.

Inventor： Carlos Quiles Casas

IPC: H04N13/111 ,  A61B1/00 ,  A61B34/10 ,  A61B34/20 ,  A61B90/00 ,  G02B27/01 ,  G06F3/01 ,  G06F3/03 ,  G06F3/04845 ,  G06T19/00 ,  G16Z99/00 ,  H04N13/156 ,  H04N13/239 ,  H04N13/279 ,  H04N13/296 ,  H04N13/366

CPC classification number: H04N13/111 ,  A61B34/10 ,  A61B34/20 ,  G02B27/0172 ,  G06F3/011 ,  G06F3/017 ,  G06F3/0304 ,  G06F3/04845 ,  G06T19/006 ,  H04N13/156 ,  H04N13/239 ,  H04N13/279 ,  H04N13/296 ,  H04N13/366 ,  A61B1/00 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  G02B2027/0134 ,  G02B2027/0138 ,  G02B2027/014 ,  G06F2203/04804 ,  G06T2210/41 ,  G16Z99/00

Abstract: Embodiments disclose a real-time surgery method and apparatus for displaying a stereoscopic augmented view of a patient from a static or dynamic viewpoint of the surgeon, which employs real-time three-dimensional surface reconstruction for preoperative and intraoperative image registration. Stereoscopic cameras provide real-time images of the scene including the patient. A stereoscopic video display is used by the surgeon, who sees a graphical representation of the preoperative or intraoperative images blended with the video images in a stereoscopic manner through a see-through display.