公开(公告)号：US10646293B2

公开(公告)日：2020-05-12

申请号：US15413380

申请日：2017-01-23

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

Inventor： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC: A61B1/00 ,  A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313 ,  A61B34/10 ,  A61B17/00

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US10506920B2

公开(公告)日：2019-12-17

申请号：US15652153

申请日：2017-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. Hasser ,  Nitish Swarup ,  Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B1/018 ,  A61B17/00

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：US10432921B2

公开(公告)日：2019-10-01

申请号：US16034004

申请日：2018-07-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/366 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B1/04 ,  A61B17/00

Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US10282881B2

公开(公告)日：2019-05-07

申请号：US15946408

申请日：2018-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20190047154A1

公开(公告)日：2019-02-14

申请号：US16161204

申请日：2018-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06F19/00 ,  A61B34/20

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.

公开(公告)号：US20180360546A1

公开(公告)日：2018-12-20

申请号：US16110145

申请日：2018-08-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B34/20 ,  G01B11/16 ,  A61B34/30 ,  G01L1/24 ,  G02B6/12 ,  A61B18/00 ,  G02B6/32 ,  G02B6/26 ,  A61B90/00 ,  A61B17/00

Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

公开(公告)号：US10085809B2

公开(公告)日：2018-10-02

申请号：US15486904

申请日：2017-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B34/20 ,  G02B6/12 ,  G02B6/26 ,  A61B18/00 ,  G02B6/32 ,  A61B34/30 ,  A61B90/00 ,  G01L1/24 ,  G01B11/16 ,  A61B17/00

Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

公开(公告)号：US10038888B2

公开(公告)日：2018-07-31

申请号：US15615830

申请日：2017-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/04 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  H04N13/00 ,  H04N13/02 ,  A61B90/00 ,  A61B17/00 ,  A61B1/04

CPC classification number: H04N13/366 ,  A61B1/00039 ,  A61B1/00193 ,  A61B1/042 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2090/371 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383

Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

公开(公告)号：US09952107B2

公开(公告)日：2018-04-24

申请号：US14100924

申请日：2013-12-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Christopher J. Hasser

IPC: A61B19/00 ,  G01L1/00 ,  G01L1/24 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

CPC classification number: G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

公开(公告)号：US20170339399A1

公开(公告)日：2017-11-23

申请号：US15615830

申请日：2017-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Christopher J. Hasser ,  William C. Nowlin

IPC: H04N13/04 ,  A61B90/00 ,  H04N13/00 ,  A61B34/30 ,  A61B1/00 ,  A61B34/37 ,  H04N13/02 ,  A61B17/00 ,  A61B1/04

CPC classification number: H04N13/366 ,  A61B1/00039 ,  A61B1/00193 ,  A61B1/042 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2090/371 ,  H04N13/156 ,  H04N13/296 ,  H04N13/383

Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.