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81. 发明公开

EP4128156A1 SYSTEMS AND METHODS FOR REGISTERING VISUAL REPRESENTATIONS OF A SURGICAL SPACE 审中-实审
公开(公告)号：EP4128156A1
公开(公告)日：2023-02-08
申请号：EP21719760.7
申请日：2021-03-19
申请人： Intuitive Surgical Operations, Inc.
发明人： MCLEOD, A. Jonathan , ALLAN, Maximilian H. , AZIZIAN, Mahdi , PROKSCH, Daniel , SHIRAZIAN, Pourya
IPC分类号： G06T7/33

82. 发明公开

EP4042382A1 PHYSICAL MEDICAL ELEMENT SIZING SYSTEMS AND METHODS 审中-实审
公开(公告)号：EP4042382A1
公开(公告)日：2022-08-17
申请号：EP20803339.9
申请日：2020-10-05
申请人： Intuitive Surgical Operations, Inc.
发明人： SHIRAZIAN, Pourya , AZIZIAN, Mahdi , PROKSCH, Daniel , SHADEMAN, Azad
IPC分类号： G06T19/00 , G06T19/20

83. 发明公开

EP3989858A1 SYSTEM AND METHOD RELATED TO REGISTRATION FOR A MEDICAL PROCEDURE 审中-实审
公开(公告)号：EP3989858A1
公开(公告)日：2022-05-04
申请号：EP20743905.0
申请日：2020-06-24
申请人： Intuitive Surgical Operations, Inc.
发明人： AZIZIAN, Mahdi , ALLAN, Maximilian, Hunter , LIU, Wen, Pei , MCLEOD, Angus, Jonathan
IPC分类号： A61B34/20 , A61B34/30 , A61B34/35 , A61B90/00

84. 发明公开

EP3975868A1 SYSTEMS AND METHODS FOR DETECTING TISSUE CONTACT BY AN ULTRASOUND PROBE 审中-实审
公开(公告)号：EP3975868A1
公开(公告)日：2022-04-06
申请号：EP20746379.5
申请日：2020-05-29
申请人： Intuitive Surgical Operations, Inc.
发明人： MCLEOD, A. Jonathan , SHIRAZIAN, Pourya , PROKSCH, Daniel , AZIZIAN, Mahdi , SHADEMAN, Azad
IPC分类号： A61B8/08 , A61B8/12

85. 发明公开

EP3932628A1 COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-实审转让
公开(公告)号：EP3932628A1
公开(公告)日：2022-01-05
申请号：EP21190869.4
申请日：2013-12-10
申请人： Intuitive Surgical Operations, Inc. , Siemens Healthcare GmbH
发明人： BLOHM, Lutz , NIEBLER, Christine , KUNZE, Holger , AZIZIAN, Mahdi , SORGER, Jonathan
IPC分类号： B25J13/00 , B25J3/00 , A61B6/00 , A61B34/30 , B25J9/16 , A61B1/00 , A61B90/00 , A61B34/20 , A61B6/10
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

86. 发明授权

EP3110314B1 SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION 有权
公开(公告)号：EP3110314B1
公开(公告)日：2020-12-09
申请号：EP15755954.3
申请日：2015-02-27
申请人： Intuitive Surgical Operations, Inc.
发明人： AZIZIAN, Mahdi , SORGER, Jonathan
IPC分类号： A61B5/00

87. 发明公开

EP3566212A1 SYSTEM AND METHOD FOR REGISTRATION AND COORDINATED MANIPULATION OF AUGMENTED REALITY IMAGE COMPONENTS 审中-实审
公开(公告)号：EP3566212A1
公开(公告)日：2019-11-13
申请号：EP18736619.0
申请日：2018-01-03
申请人： Intuitive Surgical Operations, Inc.
发明人： AZIZIAN, Mahdi
IPC分类号： G06T19/20 , G06T19/00 , G06T3/00 , G06T17/20 , G06F3/048

88. 发明公开

EP3033730A1 SYSTEM AND METHOD FOR COORDINATED MOTION AMONG HETEROGENEOUS DEVICES 有权转让
标题翻译：系统VERFAHREN ZUR KOORDINITENTEN BEWEGUNG ZWISCHEN异构体VORRICHTUNGEN
公开(公告)号：EP3033730A1
公开(公告)日：2016-06-22
申请号：EP14836436.7
申请日：2014-08-14
申请人： Intuitive Surgical Operations, Inc.
发明人： AZIZIAN, Mahdi , SORGER, Jonathan , DIMAIO, Simon P.
IPC分类号： G06Q50/22
CPC分类号： G06F19/3406 , G05B15/02 , G06F19/00 , G06F19/3418 , G06F19/3481 , G16H40/63
摘要： A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
摘要翻译：异构设备之间的协调运动的系统和方法包括具有一个或多个可移动元件的医疗设备和一个或多个处理器。任何处理器都使用共享接口来访问服务。医疗设备通过共享接口请求来自令牌服务的移动令牌，从令牌服务接收移动令牌，通过共享接口交换配置数据，运动数据或计划的运动数据，为第一可移动元件基于运动标记和配置数据，运动学数据或计划的运动数据，并且执行第一运动。在一些实施例中，从包括异常运算令牌，主跟随令牌，从跟随令牌令牌，主冲突避免令牌，副冲突避免令牌以及被动碰撞避免令牌。

89. 发明公开

EP2928407A1 COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 有权转让
标题翻译：图像捕捉设备碰撞过程中控制的运动预防和移动臂可操作的设备
公开(公告)号：EP2928407A1
公开(公告)日：2015-10-14
申请号：EP13862685.8
申请日：2013-12-10
申请人： Intuitive Surgical Operations, Inc. , Blohm, Lutz , Niebler, Christine , Kunze, Holger
发明人： BLOHM, Lutz , NIEBLER, Christine , KUNZE, Holger , AZIZIAN, Mahdi , SORGER, Jonathan
IPC分类号： A61B19/00 , B25J13/00 , B25J3/00
CPC分类号： A61B19/2203 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B34/20 , A61B34/30 , A61B90/37 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2090/376 , A61B2090/378 , B25J9/1676 , B25J9/1697 , Y10S901/02 , Y10S901/47
摘要： A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

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