公开(公告)号：WO2011060187A1

公开(公告)日：2011-05-19

申请号：PCT/US2010/056409

申请日：2010-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  BARK, Karlin Y.

IPC: A61B19/00 ,  A61B17/00 ,  G06F3/01

CPC classification number: G06F3/014 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/2051 ,  A61B2034/2065 ,  A61B2034/741

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。

公开(公告)号：WO2010147729A1

公开(公告)日：2010-12-23

申请号：PCT/US2010/035402

申请日：2010-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher J. ,  CURET, Myriam J. ,  MOHR, Catherine J. ,  STEIN, Hubert

IPC: A61B19/00

CPC classification number: A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

Abstract: Robotic and/or measurement devices (10), systems, and methods for telesurgical and other applications employ input devices (16) operatively coupled to tools (26) so as to allow a system user (18) to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points (242,244) can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool (240) or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools "hand-over-hand" along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

Abstract translation: 用于远程外科手术和其他应用的机器人和/或测量装置（10），系统和方法使用可操作地耦合到工具（26）的输入装置（16），以便允许系统用户（18）操纵被测量的组织和其他结构 。 该系统可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点（242,244），以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。 离散点可以由单个外科手术工具（240）或通过分离两个或更多个外科手术工具的距离来识别，用户可选地通过行走一对工具来测量长于立体图像捕获装置的视野的结构“ 沿着这个结构。 通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量值，可以提高测量精度和测量容易度。

公开(公告)号：WO2016201123A1

公开(公告)日：2016-12-15

申请号：PCT/US2016/036733

申请日：2016-06-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TOKARCHUK, Brent ,  AZIZIAN, Mahdi ,  CHAU, Joey ,  DIMAIO, Simon ,  HOFFMAN, Brian D. ,  JARC, Anthony Michael ,  LIN, Henry C. ,  MCDOWALL, Ian E. ,  NOWLIN, William C. ,  SEAMAN, John D., II ,  SORGER, Jonathan M.

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B90/00 ,  A61B90/361 ,  A61B90/37 ,  A61B2090/3612 ,  G05B15/00 ,  G06F19/00 ,  G06F19/3418 ,  G16H50/50

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

Abstract translation: 提供了一种与远程手术系统（外科手术系统）一起使用的手术方法，所述方法包括：在外科手术发生期间，记录指示外科手术系统内产生的手术器械运动的手术器械运动学信息; 确定与各个手术器械运动相关联的各个运动学签名; 在计算机可读存储设备中产生信息结构，其将各个运动学签名与相应的控制信号相关联; 比较在执行期间具有至少一个相应的运动学签名的外科手术手术器械的运动学信息; 在执行外科手术过程期间响应于在执行期间的手术器械运动学与相应的运动学签名之间的匹配而相关联的相应控制信号发射。

公开(公告)号：WO2010117685A2

公开(公告)日：2010-10-14

申请号：PCT/US2010/028897

申请日：2010-03-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon, D. ,  HALABE, Daniel, J. ,  ZHAO, Tao ,  DIMAIO, Simon ,  HASSER, Christopher, J. ,  MOHR, Catherine, J. ,  MOHR, Paul, W. ,  LARKIN, David, Q. ,  ZHAO, Wenyi ,  HOFFMAN, Brian, David

IPC: B25J9/16 ,  G05B19/42 ,  A61B19/00

CPC classification number: B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

Abstract translation: 用于在机器人系统的用户界面上显示的机器人工具的合成表示。 合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。 合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。

公开(公告)号：WO2011060171A1

公开(公告)日：2011-05-19

申请号：PCT/US2010/056383

申请日：2010-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  ZHAO, Tao ,  BARK, Karlin Y.

IPC: A61B19/00 ,  A61B17/00 ,  G06F3/01

CPC classification number: B25J13/02 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/741 ,  B25J9/1689 ,  G05B19/427

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且将基于系统控制参数的命令注入到微创外科系统中。

公开(公告)号：WO2010147766A1

公开(公告)日：2010-12-23

申请号：PCT/US2010/037293

申请日：2010-06-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon, D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher, J. ,  CURET, Myriam, J. ,  MOHR, Catherine, J. ,  STEIN, Hubert

IPC: A61B19/00 ,  A61B5/107

CPC classification number: A61B19/2203 ,  A61B5/1072 ,  A61B8/4209 ,  A61B8/483 ,  A61B17/00234 ,  A61B17/282 ,  A61B18/1482 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/105 ,  A61B2090/061

Abstract: Robotic and/or measurement devices (10), systems, and methods for telesurgical and other applications employ input devices (16) operatively coupled to tools (26) so as to allow a system user (18) to manipulate tissues and other structures being measured. The system (10) may make use of three dimensional position information from stereoscopic images. Two or more discrete points (242, 244) can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool (240) or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools "hand-over-hand" along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

Abstract translation: 用于远程外科手术和其他应用的机器人和/或测量装置（10），系统和方法使用可操作地耦合到工具（26）的输入装置（16），以便允许系统用户（18）操纵被测量的组织和其他结构 。 系统（10）可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点（242,244），以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。 离散点可以由单个外科手术工具（240）或通过分离两个或更多个外科手术工具的距离来识别，用户可选地通过行走一对工具来测量长于立体图像捕获装置的视野的结构“ 沿着这个结构。 通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量值，可以提高测量精度和测量容易度。

公开(公告)号：WO2021202609A1

公开(公告)日：2021-10-07

申请号：PCT/US2021/024999

申请日：2021-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MURUGAPPAN, Sundar ,  RODRIGUES, Danilo Gasques ,  PAYYAVULA, Govinda ,  DIMAIO, Simon

IPC: G06T19/00 ,  G06T7/30 ,  A61B2017/00216 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/365 ,  A61B2090/372 ,  A61B2090/502 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B90/361 ,  A61B90/96 ,  B25J9/1671 ,  G05B2219/39451 ,  G06T19/006 ,  G06T2200/24 ,  G06T2210/41 ,  G06T2219/024 ,  G16H20/40 ,  G16H40/63

Abstract: A facilitation system for facilitating remote presentation of a physical world includes a first object and an operating environment of the first object. The facilitation system includes a processing system configured to obtain an image frame depicting the physical world, identify a depiction of the first object in the image frame, and obtain a first spatial registration registering an object model with the first object in the physical world. The object model is of the first object. The processing system is further configured to obtain an updated object model corresponding to the object model updated with a current state of the first object, and generate a hybrid frame using the image frame, the first spatial registration, and the updated object model. The hybrid frame includes the image frame with the depiction of the first object replaced by a depiction of the updated object model.

公开(公告)号：WO2012003230A1

公开(公告)日：2012-01-05

申请号：PCT/US2011/042423

申请日：2011-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MCDOWALL, Ian M. ,  HASSER, Christopher J. ,  DIMAIO, Simon

IPC: A61B5/00 ,  A61B1/06

CPC classification number: A61B5/0071 ,  A61B1/00057 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/042 ,  A61B1/043 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/0684 ,  A61B1/3132 ,  A61B5/0084

Abstract: In a minimally invasive surgical system, an illuminator includes a visible color component illumination source and a hardware non-visible fluorescence emission illumination source. Thus, the illuminator outputs target image illumination light in a first spectrum where the first spectrum includes at least a portion of the visible spectrum. The illuminator also outputs target image illumination light in a second spectrum, where the second spectrum includes non-visible light with a wavelength the same as a wavelength in an emission from a fluorophore.

Abstract translation: 在微创手术系统中，照明器包括可见颜色分量照明源和硬件不可见荧光发射照明源。 因此，照明器输出第一光谱中的目标图像照明光，其中第一光谱包括至少一部分可见光谱。 照明器还输出第二光谱中的目标图像照明光，其中第二光谱包括具有与来自荧光团的发射中的波长相同的波长的不可见光。

公开(公告)号：WO2011060185A1

公开(公告)日：2011-05-19

申请号：PCT/US2010/056405

申请日：2010-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon ,  LILAGAN, Paul E. ,  ZHAO, Tao

IPC: A61B19/00 ,  A61B17/00 ,  G06F3/01

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  A61B2017/00207 ,  A61B2017/00221 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/741 ,  A61B2090/3937 ,  A61B2090/3945 ,  A61B2090/397 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  Y10S901/02 ,  Y10S901/46

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且将基于系统控制参数的命令注入到微创外科系统中。

公开(公告)号：WO2012044334A2

公开(公告)日：2012-04-05

申请号：PCT/US2010/056394

申请日：2010-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon, D. ,  DIMAIO, Simon ,  ZHAO, Tao

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/98 ,  A61B2017/00207 ,  A61B2034/2051 ,  A61B2034/741

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。