Intuitive Surgical Operations, Inc.

Sensable Technologies, Inc.

3d Systems, Inc.

Other

Dentsable, Inc.

Imperial Innovations Limited

Brandon D Itkowitz

Paul W Mohr

Paul G Griffiths

Simon Peter DiMaio

Tao Zhao

Wenyi Zhao

Simon P Dimaio

Goran Adrian Lynch

Nitish Swarup

Brian David Hoffman

Christopher J Hasser

William C Nowlin

Catherine J Mohr

David S Mintz

David Q Larkin

Daniel J Halabe

Heath Feather

Guang-Zhong Yang

Kamyar Ziaei

Michael Lee Hanuschik

Theodore W Rogers

Gunter D Niemeyer

Thomas R Nixon

Paul E Lilagan

David W Robinson

Julie L Berry

Craig R Gerbi

Jason W Hemphill

Daniel N Miller

Govinda Payyavula

Patrick O'Grady

Pushkar Hingwe

Anthony Michael Jarc

Joshua E Handley

William Alexander Goodwin

Joseph M Arsanious

Elaine Chen

Hsien-Hsin Liao

Xingchi He

Günter D Niemeyer

John William Henrie

Abbe J Cohen

Ian E McDowall

Roman L Devengenzo

David D Scott

Arjang M Hourtash

Thomas Harold Massie

Amy E Kerdok

Ashwinram Suresh

Deepak Ramesh Kapoor

Christopher R Burns

Hubert Stein

Craig Gotsill

Loren C Shih

Marc Douglass Midura

Ambarish G Goswami

Sophia R Hannaford

Marisa C Babb

Jonathan Levene

Brett Myers Page

Vincent M Hammer

Adrian N Bedard

Scott Davidson

Mohammad Sina Parastegari

Sean Duffy

Ehsan Noohi Bezanjani

Karlin Y Bark

Bruce M Schena

Stephen J Blumenkranz

Frederic H Moll

John Ryan Steger

David Joseph Rosa

Mahdi Azizian

Niels Smaby

Dinesh Rabindran

Tabish Mustufa

Andris D Ramans

Brian Edward Miller

Brian C Cooper

Curt A Rawley

Daniel Faken

Myriam J Curet

Jason S LaFrenais

George Mylonas

Craig Cook

Alexandre V Matveev

David Tzu-Wei Chen

Simon Di Maio

Yiming Mei

Omid Mohareri

Siddarth Sen

Robert G Stricko, Iii

Kam Ziaei

Rohitkumar Godhani

Myrian J Curet

Joe Wisnewski

Dave Girard

Yakov Epelbaum

Terry Lindgren

Mike Tabaczynski

Techniques are disclosed for imaging device control in a computer-assisted device that includes a repositionable structure configured to support an imaging device, and a control system coupled to the repositionable structure. The control system is configured to: determine a position of a reference point offset from a display unit, convert the position of the reference point to a target position of another reference point offset from the imaging device, determine a movement command of the first repositionable structure that moves the imaging device such that the another reference point moves toward the target position, and cause actuation of the repositionable structure based on the movement command.

Imaging device control in viewing systems

An exemplary system determines an insertion trajectory that a surgical instrument is positioned to follow when inserted into a surgical space. The system provides, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space.

Systems and methods for facilitating insertion of a surgical instrument into a surgical space

Embodiments relate to a computer-assisted robotic system, In some embodiments, the system includes a head input device, the head input device comprising a head input sensor configured to provide head input signals indicative of a an operator's head inputs, and a foot input device comprising a foot input sensor configured to provide foot input signals indicative of the operator's foot inputs. The system further includes a controller, configured to process the head input signals and the foot input signals, and identify, based on the processed head and foot input signals, that the operator has provided a combination of head and foot inputs corresponding to a steerable viewer mode activation command. The controller is further configured to cause the robotic system to enter a steerable viewer mode in response to identifying that the operator has provided a combination.

Steerable viewer mode activation and de-activation

A teleoperational system comprises a teleoperational control system and a teleoperational manipulator configured for operating an instrument in an environment. The teleoperational system also comprises an operator controller in communication with the teleoperational control system. The teleoperational control system includes a processing unit including one or more processors. The processing unit is configured to determine whether an operator of the operator controller has a head portion directed toward a display region of a display device and based on a determination that the operator's head portion is directed toward the display region, initiate an operator following mode in which movement of the operator controller provides a corresponding movement to the teleoperational manipulator. The teleoperational system may be a teleoperational medical system.

Systems and methods for entering and exiting a teleoperational state

A console for a medical includes a display, an eye tracking input module, a second input module, and one or more processors coupled to the display, the eye tracking input module, and the second input module. The one or more processors is configured to perform operations including receiving a first user input from the eye tracking input module; determining, based on the first user input, whether a gaze of a user is directed toward an activation region of the display; in response to determining that the gaze of the user is directed toward the activation region, displaying, via the display, a control; receiving a second user input from the second input module; and adjusting the control based on the second user input.

System and method for hybrid control using eye tracking

An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.

Using model data to generate an enhanced depth map in a computer-assisted surgical system

A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

System and method for integrated surgical table motion

Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being configured to support an instrument, each manipulator having a control point; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table separate from the computer-assisted device, and the movement of the table causing motion of at least one control point; determine the movement of the table; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; determine, based on a comparison of the expected spatial configuration with an actual spatial configuration of the plurality of control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

System and method for monitoring control points during reactive motion

A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.

Interaction between user-interface and instrument motion controller

A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.

Layered functionality for a user input mechanism in a computer-assisted surgical system

Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument

Systems and methods for instrument control include a first actuator for controlling a first mechanical degree of freedom, a second actuator for controlling a second mechanical degree of freedom, and a controller. The controller is configured to command the first actuator to maintain the first actuator at a first position, wherein actuation of the first actuator is subject to a first torque limit; command the second actuator to maintain the second actuator at a second position, wherein actuation of the second actuator is subject to a second torque limit; and in response to detecting that the first actuator cannot be maintained at the first position using actuation subject to the first torque limit and the second actuator can be maintained at the second position using actuation subject to the second torque limit, terminate the command to the first actuator to maintain the first actuator at the first position.

System and method for patient-side instrument control

A medical system includes a mobile cart configured to support one or more medical instruments; an illumination source mounted on the mobile cart, the illumination source configured to direct light in a direction of a path of the mobile cart during movement relative to a ground surface; and a control system operably coupled to the illumination source and the mobile cart. The control system is configured to in response to the illuminating, storing a threshold height in a memory; and automatically control the movement of the cart based on the threshold height.

Surgical system with obstacle indication system

A computer-assisted medical system includes a user device wearable by an operator. The user device includes a display device configured to present imagery overlaid in an environment of a manipulator assembly, and a sensor configured to detect one or more landmarks in the environment. The medical system includes a controller configured to execute instructions to perform operations The operations include receiving, from the sensor, position or orientation information for the one or more landmarks in the environment, and directing a manual movement of a portion of the manipulator assembly by causing the display device to present the imagery overlaid in the environment based on the received position or orientation information.

Methods of guiding manual movement of medical systems

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

Synthetic representation of a surgical robot

Growing community of inventors

Sunnyvale, CA, United States of America

Brandon D Itkowitz