公开(公告)号：WO2019103954A1

公开(公告)日：2019-05-31

申请号：PCT/US2018/061729

申请日：2018-11-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： GOSWAMI, Ambarish G. ,  GRIFFITHS, Paul G. ,  ITKOWITZ, Brandon D. ,  ZHAO, Tao

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

Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.

公开(公告)号：WO2019089226A3

公开(公告)日：2019-05-09

申请号：PCT/US2018/056267

申请日：2018-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： STRICKO III, Robert G. ,  ITKOWITZ, Brandon D. ,  KERDOK, Amy E. ,  PAGE, Brett M. ,  PILE, Jason A.

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/35 ,  A61B90/00 ,  A61B90/50 ,  A61B17/34

Abstract: Systems and methods for guided port placement selection include receiving a patient model, identifying a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device and displaying one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric. For each of the port locations, the method includes determining a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the method includes determining a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination.

公开(公告)号：WO2015142953A1

公开(公告)日：2015-09-24

申请号：PCT/US2015/021105

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  HANUSCHIK, Michael ,  MOHR, Paul W. ,  HOURTASH, Arjang M.

IPC: A61B19/00

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/2057 ,  A61B2034/301

Abstract: A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

Abstract translation: 重构成像设备和输入控制的系统和方法包括具有一个或多个终端执行器的医疗设备，成像设备，用于远程操作所述一个或多个终端执行器的一个或多个输入控制器，以及包括一个或多个处理器耦合的控制单元 到最终效果器，成像装置和输入控件。 所述控制单元响应于重新要求暂停所述输入控制器对所述末端执行器的远程操作控制，确定所述成像设备的观察重新移动，使得所述末端执行器被包含在所述成像设备的视图空间内，确定一个或多个 输入控制重新移动以提供每个输入控制和相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件来恢复末端执行器的远程操作控制。

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：WO2019089226A2

公开(公告)日：2019-05-09

申请号：PCT/US2018/056267

申请日：2018-10-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： STRICKO III, Robert G. ,  ITKOWITZ, Brandon D. ,  KERDOK, Amy E. ,  PAGE, Brett M. ,  PILE, Jason A.

Abstract: Systems and methods for guided port placement selection include receiving a patient model, identifying a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device and displaying one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric. For each of the port locations, the method includes determining a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the method includes determining a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination.

公开(公告)号：WO2019083805A1

公开(公告)日：2019-05-02

申请号：PCT/US2018/056422

申请日：2018-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  DIMAIO, Simon P. ,  MOHR, Paul W. ,  ROGERS, Theodore W.

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

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.

公开(公告)号：WO2019014493A1

公开(公告)日：2019-01-17

申请号：PCT/US2018/041893

申请日：2018-07-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  HINGWE, Pushkar

IPC: A61B34/00 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20

Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

公开(公告)号：WO2018089823A3

公开(公告)日：2018-05-17

申请号：PCT/US2017/061144

申请日：2017-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： AZIZIAN, Mahdi ,  HOFFMAN, Brian D. ,  ITKOWITZ, Brandon D. ,  MCDOWALL, Ian E. ,  MOHR, Paul W. ,  NOWLIN, William C.

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/10

Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.

公开(公告)号：WO2018031861A1

公开(公告)日：2018-02-15

申请号：PCT/US2017/046446

申请日：2017-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  BERRY, Julie L. ,  JARC, Anthony M. ,  KERDOK, Amy E.

IPC: A61B34/35 ,  A61B34/00

Abstract: A system comprises a teleoperational assembly including an operator control system and a teleoperational manipulator configured for operation by the operator control system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user. The user profile including a parameter established during a prior teleoperational procedure. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter.

Abstract translation: 系统包括远程操作组件，远程操作组件包括操作员控制系统和被配置为由操作员控制系统操作的远程操作控制器。 远程操作机械手在手术环境中连接到医疗器械。 该系统还包括包含一个或多个处理器的处理单元。 处理单元被配置为检索用户的用户简档。 用户简档包括在先前的远程操作过程期间建立的参数。 处理单元还被配置为提供指令以基于参数来配置远程操作组件的操作。

公开(公告)号：WO2015142956A1

公开(公告)日：2015-09-24

申请号：PCT/US2015/021109

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： ITKOWITZ, Brandon D. ,  HOFFMAN, Brian D. ,  MOHR, Paul W.

IPC: A61B19/00

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

Abstract: A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

Abstract translation: 医疗成像系统包括远程工作组件，其被配置为控制包括仪器尖端的医疗仪器的移动和包括一个或多个处理器的处理单元。 处理单元被配置为确定仪器尖端位置并确定与仪器尖端位置相关联的位置误差。 处理单元还被配置为基于位置误差来确定至少一个仪器尖端界限体积并且确定仪器尖端是否在成像仪器的视场内。