公开(公告)号：US11007017B2

公开(公告)日：2021-05-18

申请号：US16292213

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'Grady ,  Tao Zhao ,  Christopher R. Burns ,  Jason Hemphill ,  Brian D. Hoffman ,  Simon P. Dimaio ,  Rodney Vance

IPC: A61B34/00 ,  A61B34/20 ,  A61B90/96 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61G13/00 ,  A61B90/00

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

公开(公告)号：US20210251701A1

公开(公告)日：2021-08-19

申请号：US17307514

申请日：2021-05-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Patrick O'Grady ,  Christopher R. Burns ,  Simon P. DiMaio ,  Jason Hemphill ,  Brian D. Hoffman ,  Rodney Vance ,  Tao Zhao

IPC: A61B34/20 ,  A61B90/96 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61B34/00 ,  A61G13/00

Abstract: A method of estimating a pose of a surgical table comprises reading one or more fiducial markers on a base of the surgical table with a camera mounted to a manipulator assembly adjacent the surgical table. The surgical table includes a substrate and a support structure supporting the substrate. The substrate has a support surface. The support structure is movable such that the support surface of the substrate is positionable along one or more degrees of freedom (DOF).

公开(公告)号：US20190192233A1

公开(公告)日：2019-06-27

申请号：US16292213

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'Grady ,  Tao Zhao ,  Christopher R. Burns ,  Jason Hemphill ,  Brian D. Hoffman ,  Simon P. Dimaio ,  Rodney Vance

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61B34/00 ,  A61B90/96 ,  A61G13/00

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/90 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2068 ,  A61B2090/3983 ,  A61G13/00 ,  A61G2205/10 ,  A61G2205/60

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.

公开(公告)号：US10258414B2

公开(公告)日：2019-04-16

申请号：US15126254

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick O'Grady ,  Tao Zhao ,  Christopher R. Burns ,  Jason Hemphill ,  Brian D. Hoffman ,  Simon P. Dimaio ,  Rodney Vance

IPC: G01C21/00 ,  A61B34/20 ,  A61B90/96 ,  A61B34/30 ,  A61B34/37 ,  A61B90/90 ,  A61B90/98 ,  A61B34/35 ,  A61B34/00 ,  A61G13/00 ,  A61B90/00

Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.