公开(公告)号：US12167943B2

公开(公告)日：2024-12-17

申请号：US18308992

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

IPC: A61B90/50 ,  A61B1/00 ,  A61B34/00 ,  A61B34/20 ,  A61B90/11 ,  B25J9/00 ,  B25J9/16

Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.

公开(公告)号：US12097000B2

公开(公告)日：2024-09-24

申请号：US18441902

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/30 ,  A61N5/10 ,  A61B34/20

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61N5/1077 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).

公开(公告)号：US11452489B2

公开(公告)日：2022-09-27

申请号：US16652509

申请日：2018-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jonathan M. Sorger ,  Ian E. McDowall ,  Theodore W. Rogers

IPC: A61B6/06 ,  A61B6/12 ,  G01T1/20 ,  A61B6/00 ,  A61B8/00

Abstract: A radiation finder tool assists in locating tissue of interest within a patient. The radiation finder tool includes a body and a plurality of radiation detectors. The body has a distal end, a proximal end. A lengthwise axis of the radiation finder tool extends between the proximal end and the distal end of the body. The plurality of radiation detectors is oriented serially along the lengthwise axis, e.g., stacked one after the other along the lengthwise axis. Each radiation detector of the plurality of radiation detectors has a different field of view for radiation detected by that radiation detector. Each field of view of the plurality of radiation detectors has the lengthwise axis at its center.

公开(公告)号：US20210315650A1

公开(公告)日：2021-10-14

申请号：US17354567

申请日：2021-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brent Tokarchuk ,  Mahdi Azizian ,  Joey Chau ,  Simon P. DiMaio ,  Brian D. Hoffman ,  Anthony M. Jarc ,  Henry C. Lin ,  Ian E. McDowall ,  William C. Nowlin ,  John D. Seaman, II ,  Jonathan M. Sorger

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  G16H50/50 ,  B25J9/16 ,  G16H20/40 ,  G16H40/67

Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

公开(公告)号：US10772482B2

公开(公告)日：2020-09-15

申请号：US15863651

申请日：2018-01-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Jonathan M. Sorger

IPC: A61B1/00 ,  A61B5/02 ,  A61B1/04 ,  A61B5/026 ,  A61B5/00 ,  G06T7/11 ,  G06T7/269 ,  G06T7/00 ,  A61B1/06 ,  A61B1/07 ,  A61B90/00 ,  A61B17/00 ,  A61B34/30

Abstract: A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.

公开(公告)号：US20200069192A1

公开(公告)日：2020-03-05

申请号：US16467950

申请日：2017-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Eric E. Sanborn ,  Mark E. Froggatt ,  Jonathan M. Sorger

IPC: A61B5/01 ,  A61B5/00 ,  A61B18/00 ,  G01K1/02 ,  G01K13/00 ,  G01K17/00 ,  G01K11/32

Abstract: A system for distributed heat flux sensing of body tissue includes a distributed sensor, a thermal energy source, and one or more processors. The distributed sensor provides a plurality of temperature measurements corresponding to a plurality of points in a measurement range. The thermal energy source applies thermal energy to the body tissue along the measurement range. The one or more processors are configured to receive the plurality of temperature measurements from the distributed sensor, determine an amount of thermal energy applied by the thermal energy source at each of the plurality of points, and determine heat flux at each of the plurality of points based on the plurality of temperature measurements and the amount of thermal energy applied by the thermal energy source. The plurality of temperature measurements correspond to the plurality of points.

公开(公告)号：US20180235565A1

公开(公告)日：2018-08-23

申请号：US15956463

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Holger Kunze ,  Lutz Blohm

IPC: A61B6/00 ,  G16H40/63 ,  A61B6/10 ,  B25J9/16 ,  A61B34/20 ,  G05B19/4061

CPC classification number: A61B6/547 ,  A61B6/102 ,  A61B6/4405 ,  A61B6/4441 ,  A61B34/20 ,  B25J9/1676 ,  G05B19/4061 ,  G05B2219/40202 ,  G16H40/63

Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.

公开(公告)号：US12178550B2

公开(公告)日：2024-12-31

申请号：US16467950

申请日：2017-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Eric E. Sanborn ,  Mark E. Froggatt ,  Jonathan M. Sorger

IPC: A61B5/01 ,  A61B5/00 ,  A61B18/00 ,  A61B18/08 ,  A61B18/14 ,  G01K1/02 ,  G01K11/32 ,  G01K17/00 ,  A61B34/20

Abstract: A system for distributed heat flux sensing of body tissue includes a distributed sensor, a thermal energy source, and one or more processors. The distributed sensor provides a plurality of temperature measurements corresponding to a plurality of points in a measurement range. The thermal energy source applies thermal energy to the body tissue along the measurement range. The one or more processors are configured to receive the plurality of temperature measurements from the distributed sensor, determine an amount of thermal energy applied by the thermal energy source at each of the plurality of points, and determine heat flux at each of the plurality of points based on the plurality of temperature measurements and the amount of thermal energy applied by the thermal energy source. The plurality of temperature measurements correspond to the plurality of points.

公开(公告)号：US12016738B2

公开(公告)日：2024-06-25

申请号：US17840130

申请日：2022-06-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B90/00 ,  A61B1/00 ,  A61B6/40 ,  A61B34/30 ,  A61B90/30

CPC classification number: A61B90/37 ,  A61B1/00011 ,  A61B6/4057 ,  A61B34/30 ,  A61B2090/306 ,  A61B2090/309 ,  A61B2090/371 ,  A61B2090/373

Abstract: An illustrative surgical system may access a plurality of images captured outside a structure within a patient; detect a difference between spectral reflectances of scenes captured in the plurality of images; and identify, based on the detected difference between the spectral reflectances of the scenes captured in the plurality of images, pixels in at least one of the plurality of images that correspond to structure tissue of the structure.

公开(公告)号：US20240180645A1

公开(公告)日：2024-06-06

申请号：US18441902

申请日：2024-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dorin Panescu ,  Prashant Chopra ,  Jonathan M. Sorger ,  Tao Zhao

IPC: A61B34/32 ,  A61B17/00 ,  A61B17/34 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61N5/10

CPC classification number: A61B34/32 ,  A61B17/00234 ,  A61B17/3478 ,  A61B34/10 ,  A61B34/30 ,  A61N5/1077 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2065 ,  A61B2034/302 ,  A61B2034/306

Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).