公开(公告)号：WO2011002593A1

公开(公告)日：2011-01-06

申请号：PCT/US2010/038256

申请日：2010-06-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  NOWLIN, William C. ,  NIEMEYER, Günter D. ,  MINTZ, David S.

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A minimally- invasive surgical system (100) includes a slave surgical instrument having a slave surgical instrument (112) tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (130) (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

Abstract translation: 微创手术系统（100）包括具有从动手术器械（112）尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 耦合到主手柄的棘轮系统（130）（i），以接收主把手的对准并且（ii）联接到从动手术器械，以通过连续地减小对准误差来控制从动装置的运动，因为主把手 移动，没有自主运动的奴隶手术器械尖端和没有自主运动的主把手。

公开(公告)号：WO2010078018A3

公开(公告)日：2010-07-08

申请号：PCT/US2009/068427

申请日：2009-12-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ZHAO, Wenyi ,  WU, Chenyu ,  HIRVONEN, David ,  HASSER, Christopher J. ,  MILLER, Brian ,  MOHR, Catherine J. ,  CURET, Myriam J. ,  ZHAO, Tao ,  DIMAIO, Simon ,  HOFFMAN, Brian D.

IPC: G06T7/00 ,  H04N5/262 ,  H04N13/00

Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.