公开(公告)号：WO2021257598A1

公开(公告)日：2021-12-23

申请号：PCT/US2021/037475

申请日：2021-06-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SHADEMAN, Azad ,  AZIZIAN, Mahdi ,  PROKSCH, Daniel ,  SHIRAZIAN, Pourya

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  A61B90/00 ,  A61B2034/2046 ,  A61B2034/742 ,  A61B2090/064 ,  A61B34/25 ,  A61B34/74

Abstract: A user input system directs a computer-assisted medical system, which includes a set of controls comprising a first control and a second control configured to receive user input, to operate in a manipulation input mode in which user input to the first control manipulates a first manipulator of the computer-assisted medical system, and user input to the second control manipulates a second manipulator of the computer-assisted medical system. The user input system further directs the computer-assisted medical system to operate in a hybrid input mode in which user input to the first control manipulates the first manipulator, and user input to the second control adjusts a parameter setting associated with a medical procedure.

公开(公告)号：WO2021247349A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/034411

申请日：2021-05-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： PROKSCH, Daniel ,  AZIZIAN, Mahdi ,  SHIRAZIAN, Pourya

IPC: A61B90/00 ,  A61B34/00 ,  A61B2034/105 ,  A61B2034/2059 ,  A61B2034/2065 ,  A61B2090/365 ,  A61B2090/371 ,  A61B2090/3784 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37

Abstract: An illustrative system may be configured to obtain a visual image of an anatomical scene that includes an imaging probe and to augment the visual image with a synthetic element that indicates, within the visual image, an area of the anatomical scene being imaged by the imaging probe. The synthetic element may include spatial markers. The visualization system may be further configured to direct a display device to display the augmented image. The visualization system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.

公开(公告)号：WO2023018684A1

公开(公告)日：2023-02-16

申请号：PCT/US2022/039784

申请日：2022-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SHIRAZIAN, Pourya ,  PROKSCH, Daniel

IPC: G06T19/00 ,  G06T7/00

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive endoscope calibration data, generate a virtual camera based on the calibration data, generate an endoscopic image, receive first and second marked points in the endoscopic image, and determine if a three-dimensional surface model has been generated. If a surface model has been generated, a perturbation in the virtual camera is generated. A curvilinear segment on the surface model may be generated between the first and second marked points and a mixed reality image, including the curvilinear segment and the endoscopic image, may be generated.

公开(公告)号：WO2020243493A1

公开(公告)日：2020-12-03

申请号：PCT/US2020/035217

申请日：2020-05-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MCLEOD, A. Jonathan ,  SHIRAZIAN, Pourya ,  PROKSCH, Daniel ,  AZIZIAN, Mahdi ,  SHADEMAN, Azad

IPC: A61B8/08 ,  A61B8/12

Abstract: A contact detection system (300) comprises a memory (302) storing instructions (306), and a processor (304) communicatively coupled to the memory and configured to execute the instructions to: classify each pixel in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non- tissue, and determine, based on the classification, a contact state of the ultrasound probe, indicating whether the ultrasound probe is in operative physical contact with tissue of the patient. Based on the determined contact state, the contact detection system may, for example, control a display of the ultrasound image within a viewable image displayed by a display device, set a parameter of an ultrasound machine connected to the ultrasound probe, and/or generate a control signal configured to be used by a computer-assisted surgical system to control a positioning of the ultrasound probe.

公开(公告)号：WO2021126788A1

公开(公告)日：2021-06-24

申请号：PCT/US2020/064925

申请日：2020-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SHADEMAN, Azad ,  AZIZIAN, Mahdi ,  LIU, Wen Pei ,  MCLEOD, A. Jonathan ,  PROKSCH, Daniel ,  SHIRAZIAN, Pourya

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/20 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00 ,  A61B2017/00128 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/00216 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2017/0042 ,  A61B2017/00477 ,  A61B2034/101 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/252 ,  A61B2034/254 ,  A61B2034/256 ,  A61B2034/302 ,  A61B2090/065 ,  A61B2090/067 ,  A61B2090/0807 ,  A61B2090/0811 ,  A61B2090/3612 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/3782 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B5/74 ,  A61B8/08 ,  A61B8/42 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37

Abstract: An exemplary system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to obtain one or more parameters of a non-robotic device in a surgical space, the non-robotic device engaged by a computer-assisted surgical system; generate, based on at least the one or more parameters of the non-robotic device, guidance content for use by the computer-assisted surgical system to facilitate guided teleoperation of the non-robotic device; and provide the guidance content to the computer-assisted surgical system.

公开(公告)号：WO2021041545A1

公开(公告)日：2021-03-04

申请号：PCT/US2020/047999

申请日：2020-08-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MCLEOD, A. Jonathan ,  AZIZIAN, Mahdi ,  PROKSCH, Daniel ,  SHIRAZIAN, Pourya

IPC: G06T3/00 ,  G06T7/33 ,  A61B6/00 ,  A61B8/08 ,  A61B90/00 ,  A61B1/00

Abstract: An exemplary image registration system (100) identifies a subsurface structure (502, 504) at a surgical site (306) based on subsurface imaging data from a subsurface image scan at the surgical site. The image registration system (100) uses the identified subsurface structure (502, 504) at the surgical site for a registration of endoscopic imaging data (304-1) from an endoscopic imaging modality (302-1) with additional imaging data from an additional imaging modality (304-2). Corresponding systems and methods are also disclosed.

公开(公告)号：WO2020243432A1

公开(公告)日：2020-12-03

申请号：PCT/US2020/035125

申请日：2020-05-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SHIRAZIAN, Pourya ,  MCLEOD, A. Jonathan ,  PROKSCH, Daniel ,  AZIZIAN, Mahdi

IPC: A61B6/00 ,  A61B8/08 ,  A61B34/20 ,  G06T5/50

Abstract: An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging modality. The integrated representation of the surgical space as captured by the second imaging modality may be selectively movable and may be generated based on first imagery of the surgical space captured by the first imaging modality and second imagery of the surgical space captured by the second imaging modality in a manner that provides a visually realistic appearance of depth.

公开(公告)号：WO2020243425A1

公开(公告)日：2020-12-03

申请号：PCT/US2020/035113

申请日：2020-05-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： PROKSCH, Daniel ,  AZIZIAN, Mahdi ,  MCLEOD, A. Jonathan ,  SHIRAZIAN, Pourya

IPC: G06T7/11 ,  A61B34/10

Abstract: A composite medical imaging system may direct a display device to display an image showing a view of a surgical area as captured by an imaging device, the view of the surgical area showing surface anatomy located at the surgical area and an object located at the surgical area, and an augmentation region that shows supplemental content, the augmentation region creating an occlusion over at least a portion of the view of the surgical area. The system may detect an overlap in the image between at least a portion of the object and at least a portion of the augmentation region. In response to the detection of the overlap, the system may adjust the image to decrease an extent of the occlusion within the overlap by the augmentation region.

公开(公告)号：WO2023018685A1

公开(公告)日：2023-02-16

申请号：PCT/US2022/039786

申请日：2022-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SHIRAZIAN, Pourya ,  PROKSCH, Daniel ,  WAKEFIELD, Erik D.

IPC: G06T11/60

Abstract: A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to generate a current endoscopic video image of a surgical environment, capture an image from the current endoscopic video image, display the current endoscopic video image and the captured image in a common display, and perform an action with the captured image in response to a user input.

公开(公告)号：WO2021194895A1

公开(公告)日：2021-09-30

申请号：PCT/US2021/023294

申请日：2021-03-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： MCLEOD, A. Jonathan ,  ALLAN, Maximilian H. ,  AZIZIAN, Mahdi ,  PROKSCH, Daniel ,  SHIRAZIAN, Pourya

IPC: G06T7/33 ,  G06T2207/10068 ,  G06T2207/30004

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.