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1. 发明申请

WO2015023841A1 SYSTEM AND METHOD FOR LOGGING AND REPLAY AMONG HETEROGENEOUS DEVICES 审中-公开
标题翻译：用于异位装置记录和重新排列的系统和方法
公开(公告)号：WO2015023841A1
公开(公告)日：2015-02-19
申请号：PCT/US2014/051055
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： G06Q50/04
CPC分类号： G06F9/455 , G06F19/00 , G09B23/28 , G16H40/63 , G16H50/50 , H04L67/42
摘要： A system and method of logging and replay among heterogeneous devices includes one or more shared services including a replay service, a processor for executing the shared services, and a shared interface for providing access to the shared services. The replay service selects one or more logs for playback, emulates one or more playback devices, each of the playback devices being associated with a respective one of the logs, extracts one or more log entries from each of the logs, recreates one or more recreated service requests for the one or more shared services based on information associated with each of the log entries, and initiates the recreated service requests. In some embodiments, the system and method further include a logging service to create new log entries based on new service requests, associate the new log entries with a corresponding timestamp, and record the new log entries.
摘要翻译：在异构设备之间记录和重放的系统和方法包括一个或多个共享服务，包括重播服务，用于执行共享服务的处理器，以及用于提供对共享服务的访问的共享接口。重播服务选择一个或多个用于播放的日志，模拟一个或多个回放设备，每个回放设备与相应的日志相关联，从每个日志中提取一个或多个日志条目，重新创建一个或多个重新创建的基于与每个日志条目相关联的信息对一个或多个共享服务的服务请求，并且发起重新创建的服务请求。在一些实施例中，系统和方法还包括记录服务，以基于新的服务请求创建新的日志条目，将新的日志条目与对应的时间戳相关联，并记录新的日志条目。

2. 发明申请

WO2014078425A1 SMART DRAPES FOR COLLISION AVOIDANCE 审中-公开
标题翻译：用于冲突避免的SMART DRAPES
公开(公告)号：WO2014078425A1
公开(公告)日：2014-05-22
申请号：PCT/US2013/069909
申请日：2013-11-13
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： AZIZIAN, Mahdi , SORGER, Jonathan
IPC分类号： A61B19/02 , A61B19/08 , B25J19/02 , B25J19/06
CPC分类号： A61B19/081 , A61B46/10 , A61B2017/00221
摘要： Embodiments of a smart surgical drape are disclosed. The surgical drape includes an insulating material and one or more sensors mounted with the insulating material, the one or more sensors detecting proximity between the surgical drape and a device. Some embodiments of the smart surgical drape can be utilized on surgical robots or other devices in the surgical area to detect potential collisions.
摘要翻译：公开了一种智能手术罩的实施例。手术罩包括绝缘材料和安装有绝缘材料的一个或多个传感器，所述一个或多个传感器检测手术罩和装置之间的接近度。智能手术罩的一些实施例可以用于外科手术机器人或手术区域中的其他装置以检测潜在的碰撞。

3. 发明申请

WO2018009375A1 METHOD OF SYNTHESIZING NEAR IR, CLOSED CHAIN SULFO-CYANINE DYES 审中-公开
标题翻译：合成近红外，闭链S - 菁染料的方法
公开(公告)号：WO2018009375A1
公开(公告)日：2018-01-11
申请号：PCT/US2017/039491
申请日：2017-06-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： SORGER, Jonathan , KOILPILLAI, Jesudoss , RAMESH, Veerappan , SEKAR, Kulandai raj Antony , RATHESHKUMAR, Periyadurai
IPC分类号： C07D209/22 , C09B57/00
摘要： Compositions and methods of synthesizing near IR, closed chain, sulfo-cyanine dyes are provided.
摘要翻译：提供了合成近IR，闭链磺基花青染料的组合物和方法。

4. 发明申请

WO2015120008A1 SYSTEM AND METHOD FOR DYNAMIC VIRTUAL COLLISION OBJECTS 审中-公开
标题翻译：动态虚拟碰撞对象的系统与方法
公开(公告)号：WO2015120008A1
公开(公告)日：2015-08-13
申请号：PCT/US2015/014395
申请日：2015-02-04
申请人： INTUITIVE SURGICAL OPERATIONS, INC. , SIEMENS AG HEALTHCARE SECTOR
发明人： AZIZIAN, Mahdi , SORGER, Jonathan , KUNZE, Holger , BLOHM, Lutz
IPC分类号： A61B19/00
CPC分类号： A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G06F19/00 , G16H40/63
摘要： 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.
摘要翻译：动态虚拟碰撞对象的系统和方法包括用于医疗设备的控制单元。控制单元包括一个或多个处理器和将控制单元耦合到医疗设备的接口。所述控制单元被配置为确定所述医疗设备的第一可移动段的位置，所述第一可移动段所占据的体积被一个或多个第一虚拟碰撞对象（VCO）近似; 基于医疗设备的位置和运动目标调整第一VCO的一个或多个属性; 基于位置和属性确定第一VCO的第一几何形状; 接收与第二设备的第二段相关联的一个或多个第二VCO的第二几何; 确定第一VCO和第二VCO之间的关系; 并根据关系调整医疗器械的运动计划。

5. 发明申请

WO2015131026A1 SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION 审中-公开
标题翻译：用于反射检测和降低的系统和方法
公开(公告)号：WO2015131026A1
公开(公告)日：2015-09-03
申请号：PCT/US2015/017950
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
CPC分类号： A61B5/0071 , A61B5/0033 , A61B5/7405 , A61B5/742 , A61B2576/00
摘要： A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.
摘要翻译：镜面反射检测和缩小的系统和方法包括包括一个或多个处理器的处理单元和耦合到处理单元的成像单元。成像单元包括用于提供感兴趣区域的照明的一个或多个第一照明器，用于检测照明反射的一个或多个第一检测器，用于触发感兴趣区域中的一种或多种荧光材料的荧光的一个或多个第二照明器，以及用于检测荧光材料的荧光的一个或多个第二检测器。所述处理单元被配置为从所述第一检测器接收第一图像，确定所述第一图像中的高镜面反射的一个或多个区域，掩蔽所述第一图像中的高镜面反射区域，并基于所述第一图像生成合成图像屏蔽第一个图像和检测到的荧光。第一个图像包括检测到的反射。

6. 发明申请

WO2015023831A1 SYSTEM AND METHOD FOR COORDINATED MOTION AMONG HETEROGENEOUS DEVICES 审中-公开
标题翻译：用于协调运动的异构设备的系统和方法
公开(公告)号：WO2015023831A1
公开(公告)日：2015-02-19
申请号：PCT/US2014/051027
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。医疗设备从令牌服务通过共享接口请求移动令牌，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令牌和配置数据，运动学数据或计划运动数据的可移动元件，并执行第一运动。在一些实施例中，从包括排他性令牌，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。

7. 发明申请

WO2014093367A1 COLLISION AVOIDANCE DURING CONTROLLED MOVEMENT OF IMAGE CAPTURING DEVICE AND MANIPULATABLE DEVICE MOVABLE ARMS 审中-公开
标题翻译：图像捕获装置和可手动装置可移动臂的控制运动期间的碰撞避免
公开(公告)号：WO2014093367A1
公开(公告)日：2014-06-19
申请号：PCT/US2013/074163
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.
摘要翻译：用于移动控制的系统和方法包括耦合到计算机辅助外科手术装置的控制器，其具有联接到具有工作端的可操纵装置的第一可动臂和耦合到图像捕获装置的第二可移动臂。控制器被配置为接收第一可移动臂的第一配置; 接收第二可动臂的第二构造; 从图像捕获装置接收工作端的多个图像; 确定工作端的位置和方向; 确定第一可移动臂的第一可动臂位置和轨迹; 确定第二可动臂的第二可动臂位置和轨迹; 确定可动臂的运动是否会导致可移动臂之间的不期望的关系; 并向第一或第二可移动臂发送运动命令以避免不期望的关系。

8. 发明申请

WO2013123372A1 COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS 审中-公开
标题翻译：针对干预措施的紧急针头操纵器
公开(公告)号：WO2013123372A1
公开(公告)日：2013-08-22
申请号：PCT/US2013/026406
申请日：2013-02-15
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： BAILEY, David W. , DIMAIO, Simon P. , ZHAO, Tao , VERNER, Lawton N. , LOH, Alan E. , SORGER, Jonathan , SCHENA, Bruce Michael
IPC分类号： A61B17/062 , A61B17/34 , B25J13/08 , B25J5/02 , A61B10/02
CPC分类号： B25J11/00 , A61B34/30 , A61B90/11 , A61B2017/00274 , A61B2017/3409 , A61B2018/1425 , A61B2034/2059 , A61B2090/3954 , A61B2090/3983 , A61B2090/506 , B25J5/02 , B25J9/1065
摘要： Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.
摘要翻译：公开了一种仪器操纵器的实施例。仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。各种接头和托架可由电机驱动。

9. 发明公开

EP3102144A1 SYSTEM AND METHOD FOR DYNAMIC VIRTUAL COLLISION OBJECTS 有权转让
标题翻译：系统和方法动态虚拟碰撞对象
公开(公告)号：EP3102144A1
公开(公告)日：2016-12-14
申请号：EP15746212.8
申请日：2015-02-04
申请人： Intuitive Surgical Operations, Inc. , Siemens Aktiengesellschaft
发明人： AZIZIAN, Mahdi , SORGER, Jonathan , KUNZE, Holger , BLOHM, Lutz
IPC分类号： A61B90/00
CPC分类号： A61B6/547 , A61B6/102 , A61B6/4405 , A61B6/4441 , A61B34/20 , B25J9/1676 , G05B19/4061 , G05B2219/40202 , G16H40/63
摘要： 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.

10. 发明公开

EP3795068A1 SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION 审中-实审
公开(公告)号：EP3795068A1
公开(公告)日：2021-03-24
申请号：EP20201765.3
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
摘要： A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.

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