公开(公告)号：US12121204B2

公开(公告)日：2024-10-22

申请号：US18179874

申请日：2023-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/267 ,  A61B5/06 ,  A61B10/04 ,  A61B34/00 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  G06T7/33 ,  G06T19/00 ,  G06T19/20

CPC classification number: A61B1/0005 ,  A61B1/005 ,  A61B1/009 ,  A61B1/05 ,  A61B1/2676 ,  A61B5/06 ,  A61B10/04 ,  A61B34/20 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  G06T7/33 ,  G06T7/337 ,  G06T7/344 ,  G06T19/00 ,  G06T19/006 ,  G06T19/20 ,  A61B2034/2051 ,  A61B2034/2061 ,  G06T2207/10068 ,  G06T2207/30061

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US12086284B2

公开(公告)日：2024-09-10

申请号：US17258074

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Federico Barbagli

IPC: G06F21/62 ,  G16H10/60 ,  G16H40/67

CPC classification number: G06F21/6245 ,  G16H10/60 ,  G16H40/67

Abstract: A method and apparatus for censoring selected information. A mobile device is registered with a medical system. The medical system includes a display device. A trigger is received from the mobile device at the medical system. A display on the display device is modified in response to the received trigger. Selected information in the display is censored in the modified display. Alternatively, an image of a display on the display device is generated with selected information censored in response to receiving the trigger. The image of the display with the selected information censored is sent to the mobile device.

公开(公告)号：US12076103B2

公开(公告)日：2024-09-03

申请号：US16705552

申请日：2019-12-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B5/107 ,  A61B17/00 ,  A61B34/35 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/77 ,  A61B17/00234 ,  A61B34/35 ,  A61B34/70 ,  A61B5/1076 ,  A61B2017/00017 ,  A61B2017/003 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/3782

Abstract: A medical instrument system includes a control system and an operator input device coupled to an instrument including a sensor. The control system includes a processor and memory comprising instructions that cause the control system to: determine a distance between a distal tip of the instrument and an anatomical area based on sensor data; determine a motion scaling parameter based on the distance; receive an input instruction from the operator input device; map the input instruction to an output instruction including applying the motion scaling parameter to the input instruction to create the output instruction; instruct an actuator to move the instrument based on the output instruction; determine a second distance between the distal tip and the anatomical area based on the sensor data; determine a second motion scaling parameter based on the second distance; and stop movement of the instrument based on the second motion scaling parameter.

公开(公告)号：US20240264683A1

公开(公告)日：2024-08-08

申请号：US18607140

申请日：2024-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Federico Barbagli ,  Rueben D. Brewer ,  Christopher R. Carlson ,  Vincent Duindam ,  Tania K. Morimoto ,  Michael D. Paris ,  Oliver J. Wagner

IPC: G06F3/0354 ,  A61B1/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  A61B90/00 ,  A61M25/01

CPC classification number: G06F3/03547 ,  A61B1/00042 ,  A61B34/25 ,  A61B34/35 ,  A61B34/74 ,  A61B46/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3735 ,  A61M25/0113

Abstract: An input control console for a flexible elongate device may comprise an input control having an infinite length of travel in a one or more directions. The input control may provide a command suitable for controlling a degree of freedom motion of the flexible elongate device. The input control console may also comprise a ring located on a top surface of the console, the input control being mounted within the ring.

公开(公告)号：US20240024038A1

公开(公告)日：2024-01-25

申请号：US18365710

申请日：2023-08-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  G06T7/0012 ,  G06T7/30 ,  A61B1/009 ,  A61B34/10 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US11781857B2

公开(公告)日：2023-10-10

申请号：US17700370

申请日：2022-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dawn K. Gifford ,  Federico Barbagli ,  Samuel Chang ,  Anoop B. Kowshik ,  Oliver Wagner ,  Michael Paris ,  Mark Froggatt

IPC: G01B11/16 ,  G01L1/24 ,  G02B23/26 ,  A61B1/00 ,  G02B6/02 ,  G02B6/34 ,  G02B6/00

CPC classification number: G01B11/16 ,  A61B1/00096 ,  A61B1/00165 ,  G01L1/24 ,  G02B6/00 ,  G02B6/02 ,  G02B6/022 ,  G02B6/02042 ,  G02B6/34 ,  G02B23/26

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

公开(公告)号：US11779396B2

公开(公告)日：2023-10-10

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  A61B1/00 ,  A61B1/005 ,  A61B10/02

CPC classification number: A61B34/10 ,  A61B1/009 ,  A61B1/000094 ,  A61B6/032 ,  A61B6/466 ,  G06T7/11 ,  G06T7/30 ,  A61B1/005 ,  A61B10/02

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

公开(公告)号：US20230263373A1

公开(公告)日：2023-08-24

申请号：US18308906

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Federico Barbagli ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B1/005 ,  A61B34/20 ,  A61B34/00 ,  A61B17/00

CPC classification number: A61B1/0051 ,  A61B34/20 ,  A61B34/76 ,  A61B17/00234 ,  A61B1/005 ,  A61B1/009 ,  A61B2034/2048 ,  A61B2034/2061 ,  A61B2034/301

Abstract: Systems and methods for detecting environmental forces on a flexible elongate instrument include an actuator for inserting and retracting the instrument and a control unit. The control unit is configured to determine a force exerted by the instrument on tissue of a patient. The force is determined based on one or more of a shape of the instrument, a force being exerted by the actuator, or an amount of force being applied at a proximal end of the instrument. In some embodiments the control unit determines the shape using a shape sensor. In some embodiments, the control unit determines the force exerted by the actuator based on a current of the actuator. In some embodiments, the control unit determines the amount of force being applied to the proximal end of the instrument using a force sensor located proximal to the instrument.

公开(公告)号：US20230200790A1

公开(公告)日：2023-06-29

申请号：US18171590

申请日：2023-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00

CPC classification number: A61B10/04 ,  A61B34/25 ,  A61B90/37 ,  A61B1/000094 ,  A61B2090/378 ,  A61B34/35

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

公开(公告)号：US20220392087A1

公开(公告)日：2022-12-08

申请号：US17774822

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: G06T7/33 ,  G06T7/11 ,  G06V10/25 ,  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, may cause the system to record shape data from a shape sensor for an instrument during an image capture period and generate a sensor point cloud from the recorded shape data. The computer readable instructions, when executed by the processor, may also cause the system to receive image data from an imaging system during the image capture period, generate an image point cloud for the instrument from the image data, and register the sensor point cloud to the image point cloud.