公开(公告)号：US12213814B2

公开(公告)日：2025-02-04

申请号：US17610376

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Brandon D. Itkowitz ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B50/13 ,  G05D1/622 ,  G05D1/82

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.

公开(公告)号：US11992281B2

公开(公告)日：2024-05-28

申请号：US17610348

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B50/13 ,  B25J5/00 ,  B25J9/00 ,  G05D1/00

CPC classification number: A61B34/32 ,  A61B34/25 ,  A61B34/37 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007 ,  B25J9/0084 ,  G05D1/0027

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.

公开(公告)号：US20230410499A1

公开(公告)日：2023-12-21

申请号：US18035989

申请日：2021-11-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Omid Mohareri ,  Adam T. Schmidt ,  Aidean Sharghi Karganroodi

IPC: G06V10/98 ,  G06V10/12 ,  G06V10/764 ,  G06V10/774 ,  H04N23/695 ,  H04N23/60 ,  H04N23/90 ,  G06V40/20

CPC classification number: G06V10/993 ,  G06V10/12 ,  G06V10/764 ,  G06V10/774 ,  H04N23/695 ,  H04N23/64 ,  H04N23/90 ,  G06V40/20 ,  G06V2201/03

Abstract: Visibility metrics in multi-view medical activity recognition systems and methods are described herein. In certain illustrative examples, a system access imagery of a scene of a medical session captured by a plurality of sensors from a plurality of viewpoints, the imagery including first imagery captured by a first sensor of the plurality of sensors from a first viewpoint of the plurality of viewpoints. The system determines, during the medical session and based on the first imagery, a value of an activity visibility metric for the first sensor. The system facilitates, based on the value of the activity visibility metric, adjusting the first viewpoint of the first sensor.

公开(公告)号：US20220392084A1

公开(公告)日：2022-12-08

申请号：US17776073

申请日：2020-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Omid Mohareri ,  Simon P. DiMaio ,  Zhaoshuo Li ,  Amirreza Shaban ,  Jean-Gabriel Simard

IPC: G06T7/292 ,  G06T7/80 ,  G06T1/00 ,  G06T7/215 ,  A61B34/20

Abstract: Scene perception systems and methods are described herein. In certain illustrative examples, a system combines data sets associated with imaging devices included in a dynamic multi-device architecture and uses the combined data sets to perceive a scene (e.g., a surgical scene) imaged by the imaging devices. To illustrate, the system may access tracking data for imaging devices capturing images of a scene and fuse, based on the tracking data, data sets respectively associated with the imaging devices to generate fused sets of data for the scene. The tracking data may represent a change in a pose of at least one of the image devices that occurs while the imaging devices capture images of the scene. The fused sets of data may represent or be used to generate perceptions of the scene. In certain illustrative examples, scene perception is dynamically optimized using a feedback control loop.

公开(公告)号：US20250157636A1

公开(公告)日：2025-05-15

申请号：US18942106

申请日：2024-11-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Reza Khodayi Mehr ,  Omid Mohareri

IPC: G16H40/20 ,  G06F3/0482

Abstract: Data streams of information of medical procedures are received. The information includes case metadata of the medical procedures, a timeline of phases and tasks within each phase determined for each medical procedure, and three-dimensional point cloud data for each medical procedure during at least portions of phases and tasks within each phase. At least a portion of the information is provided for display using a hierarchical user interface structure. The hierarchical user interface structure includes a first level of a user interface to display, based at least on the three-dimensional point cloud data, a three-dimensional point cloud representation of a task of a phase selected from a timeline of a second level of user interface. The hierarchical structure includes the second level of the user interface to display the timeline and a portion of the case metadata associated with the timeline.

公开(公告)号：US20230410491A1

公开(公告)日：2023-12-21

申请号：US18035993

申请日：2021-11-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Omid Mohareri ,  Adam T. Schmidt ,  Aidean Sharghi Karganroodi

IPC: G06V10/80 ,  G06V10/82

CPC classification number: G06V10/809 ,  G06V10/82 ,  G06V2201/03

Abstract: Multi-view medical activity recognition systems and methods are described herein. In certain illustrative examples, a system accesses a plurality of data streams representing imagery of a scene of a medical session captured by a plurality of sensors from a plurality of viewpoints. The system temporally aligns the plurality of data streams and determines, using a viewpoint agnostic machine learning model and based on the plurality of data streams, an activity within the scene.

公开(公告)号：US20240277430A1

公开(公告)日：2024-08-22

申请号：US18646127

申请日：2024-04-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B50/13 ,  B25J5/00 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/25 ,  A61B34/37 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007 ,  B25J9/0084

Abstract: A system is configured to direct a manipulator cart to navigate, in a first bifurcated navigation control mode, from an initial location to an intermediate location; and direct the manipulator cart to navigate, in a second bifurcated navigation control mode, from the intermediate location to a target location. In the first bifurcated navigation control mode, the system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart. In the second bifurcated navigation control mode, the system is configured to autonomously control the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

公开(公告)号：US20220241038A1

公开(公告)日：2022-08-04

申请号：US17610348

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B34/32 ,  A61B50/13 ,  A61B34/00 ,  A61B34/37 ,  G05D1/00 ,  B25J5/00 ,  B25J9/00

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.

公开(公告)号：US20250127586A1

公开(公告)日：2025-04-24

申请号：US19000109

申请日：2024-12-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Brandon D. Itkowitz ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B50/13 ,  G05D1/622 ,  G05D1/82

Abstract: A bifurcated navigation control system is configured to identify a navigation condition associated with a navigation of a component of a computer-assisted medical system component along a path from an initial location to a target location; determine, based on the navigation condition, a propulsion limitation configured to be imposed on operator-provided commands related to a propulsion of the component during the navigation of the component along the path; and direct the component to navigate, in a bifurcated navigation control mode, along at least part of the path from the initial location to the target location. In the bifurcated navigation control mode, the bifurcated navigation control system is configured to autonomously control a steering of the component while allowing operator control of the propulsion of the component based on the operator-provided commands as limited by the propulsion limitation.

公开(公告)号：US20240070875A1

公开(公告)日：2024-02-29

申请号：US18259833

申请日：2021-12-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Omid Mohareri ,  Melanie Diane Yuan ,  Kerry Wang

IPC: G06T7/20 ,  G06T7/30 ,  G06T7/60

CPC classification number: G06T7/20 ,  G06T7/30 ,  G06T7/60 ,  G06T2207/30241

Abstract: A system includes a memory and a processing unit coupled to the memory. The processing unit is configured to receive first image data from a first image sensor exterior to a body, the first image data including data of an object; receive second image data from a second image sensor interior to the body, the second image data including data of the object; track the object moving across a body wall of the body based on the first and second image data to generate a tracking result to indicate a status of movement of the object across the body wall.