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11.发明申请公开(公告)号：US20170258537A1
公开(公告)日：2017-09-14
申请号：US15607676
申请日：2017-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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12.发明授权公开(公告)号：US09666101B2
公开(公告)日：2017-05-30
申请号：US15006555
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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13.发明授权公开(公告)号：US09636186B2
公开(公告)日：2017-05-02
申请号：US15006549
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20140378995A1
公开(公告)日：2014-12-25
申请号：US14115092
申请日：2012-05-07
Inventor： Rajesh Kumar , Gregory D. Hager , Amod S. Jog , Yixin Gao , May Liu , Simon Peter DiMaio , Brandon Itkowitz , Myriam Curet
CPC classification number: A61B5/065 , A61B34/30 , A61B2034/107
Abstract: A computer-implemented method of analyzing a sample task trajectory including obtaining, with one or more computers, position information of an instrument in the sample task trajectory, obtaining, with the one or more computers, pose information of the instrument in the sample task trajectory, comparing, with the one or more computers, the position information and the pose information for the sample task trajectory with reference position information and reference pose information of the instrument for a reference task trajectory, determining, with the one or more computers, a skill assessment for the sample task trajectory based on the comparison, and outputting, with the one or more computers, the determined skill assessment for the sample task trajectory.
Abstract translation: 一种计算机实现的分析样本任务轨迹的方法，包括使用一个或多个计算机获取所述样本任务轨迹中的仪器的位置信息，用所述一个或多个计算机获取所述样本任务轨迹中的所述仪器的信息 将所述样本任务轨迹的所述位置信息和所述姿势信息与参考任务轨迹的所述仪器的参考位置信息和参考姿态信息进行比较，用所述一台或多台计算机确定技能 基于比较对样本任务轨迹进行评估，并且与一个或多个计算机一起输出所确定的样本任务轨迹的技能评估。
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15.发明申请公开(公告)号：US20220071721A1
公开(公告)日：2022-03-10
申请号：US17530166
申请日：2021-11-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman, JR. , Rajesh Kumar , David Q. Larkin , Nitish Swarup , Guanghua G. Zhang
IPC: A61B34/37 , A61B34/10 , A61B34/00 , A61B90/00 , G06F3/01 , G06F3/0484 , G06F3/0481 , G06F3/0346 , G06F3/0486 , A61B1/00 , A61B1/04 , A61B1/313 , A61B5/055 , A61B5/00 , A61B18/12
Abstract: A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.
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Patent Agency Ranking
16.发明授权公开(公告)号：US11197731B2
公开(公告)日：2021-12-14
申请号：US16564734
申请日：2019-09-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian David Hoffman , Rajesh Kumar , David Q. Larkin , Nitish Swarup , Guanghua G. Zhang
IPC: A61B34/37 , A61B34/10 , A61B34/00 , A61B90/00 , G06F3/01 , G06F3/0484 , G06F3/0481 , G06F3/0346 , G06F3/0486 , A61B1/00 , A61B1/04 , A61B1/313 , A61B5/055 , A61B5/00 , A61B18/12 , A61B90/10 , A61B18/14 , A61B34/30 , A61N7/02 , A61B18/00
Abstract: A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.
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公开(公告)号：US20210000546A1
公开(公告)日：2021-01-07
申请号：US16910818
申请日：2020-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US20190247131A1
公开(公告)日：2019-08-15
申请号：US16396125
申请日：2019-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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19.发明授权公开(公告)号：US09867671B2
公开(公告)日：2018-01-16
申请号：US15607676
申请日：2017-05-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20170079725A1
公开(公告)日：2017-03-23
申请号：US15371154
申请日：2016-12-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Prisco , Guanghua G. Zhang , Rajesh Kumar
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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