Intuitive Surgical Operations, Inc.

Brian David Hoffman

Tao Zhao

Wenyi Zhao

William C Nowlin

David Q Larkin

Christopher J Hasser

Paul W Mohr

Brandon D Itkowitz

Catherine J Mohr

Ian E McDowall

Simon P Dimaio

Rajesh Kumar

Giuseppe Maria Prisco

Stephen J Blumenkranz

Simon Peter DiMaio

Mahdi Azizian

Jeffrey M DiCarlo

David D Scott

Yulun Wang

Frederic H Moll

Darrin R Uecker

Gunter D Niemeyer

J Kenneth Salisbury, Jr

James W Wright

Anthony Michael Jarc

Amante A Mangaser

Modjtaba Ghodoussi

Chenyu Wu

David Hirvonen

David W Robinson

Daniel H Gomez

Jonathan Michael Sorger

Joseph Orban, Iii

Tyler J Morrissette

Jason W Hemphill

Nitish Swarup

Theodore W Rogers

Paul E Lilagan

Daniel J Halabe

John D Stern

Guanghua G Zhang

Joshua Radel

Geoff Richmond

Henry C Lin

Geoffrey A Richmond

Brent Tokarchuk

Heath Feather

Patrick O'Grady

Simon Di Maio

Ranjan Mauherjee

Tabish Mustufa

Joey Chau

Huan L Phan

John D Seaman, Ii

Siddarth Sen

Brian Edward Miller

Christopher R Burns

William Jason Culman

May Quo-Mei Liu

Rohitkumar Godhani

Rodney Vance

Jonathan D Halderman

Ranjan Mukherjee

Jeffrey M Dicarlo

Derek C Liou

Marc Levesque

Myrian J Curet

Adam T Schmidt

Hua Hui

Ian McDowell

Nariman Majdi Nasab

Christopher J J Hasser

Ian E Mcdowall

John D Ii Seaman

Karen C Brandao

Ian M Mcdowall

An illumination source may be coupled to an image capture device through a connector. A light sensor is placed downstream of the connector to measure the light received by the image capture device from the illumination source. The light sensor provides the measurement of the received light to the illumination source for closed-loop control of illumination source. The light sensor may be positioned in a camera housing to take into account light attenuation from the illumination source to the camera. The light sensor may be positioned at other locations on the image capture device. Multiple light sensors may be positioned at different locations on the image capture device to detect sources or locations of attenuation. Redundant light sensors of more than one type of sensor may be used at a single light sensor location to provide for validation of measurements and increase the variety of information measured.

Closed-loop control of illumination in an endoscopic camera system

An apparatus may configure an illuminator to illuminate a scene with non-white light. The illuminator includes a plurality of color component illumination sources. The non-white light is light other than white light and is generated by a combination of light output by the plurality of color component illumination sources. The apparatus may also control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light and adjust pixel values of a color channel of the camera in the frame of the scene to decrease noise of the color channel in the frame of the scene.

Surgical system including a non-white light general illuminator

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 teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.

Teleoperated surgical system with surgeon skill level based instrument control

A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.

Configuring surgical system with surgical procedures atlas

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

A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. The system also includes a subscriber node including at least one second synchronization database. The publishing node is configured to set the flag associated with the attributes when the attributes are written in the at least one first synchronization database or when the data included in the attributes are modified and publish the flagged attributes to the subscriber node.

Systems and methods for synchronizing nodes of a robotic system

In some embodiments, a controller of a computer-assisted surgical system receives a visible image captured by an image capture unit of a surgical system, receives a plurality of hyperspectral images captured at a same waveband by the image capture unit of the surgical system, generates a composite hyperspectral image from the plurality of hyperspectral images, and spatially registering the composite hyperspectral image with the visible image.

Simultaneous white light and hyperspectral light imaging systems

A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

Rendering tool information as graphic overlays on displayed images of tools

A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene. Based on the image and the depth map, the system may generate a processed image depicting the operational scene as being illuminated by a virtual light source that is to be simulated to be illuminating the operational scene and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

Systems and methods for emulating far-range lighting for an operational scene illuminated by close-range light

A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.

Teleoperated surgical system with patient health records based instrument control

An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

Systems and methods for tracking a position of a robotically-manipulated surgical instrument

An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

Convolutional neural networks for efficient tissue segmentation

A synchronization system node may comprise one or more processors and a synchronization database. The synchronization database may comprise a subscriber list of a plurality of subscribers, a first buffer including a plurality of attributes in a first state, and a second buffer including the plurality of attributes in a second state. The node may be configured to receive updates for one or more of the plurality of attributes and store, to the first buffer, the updates for the one or more of the plurality of attributes to update the plurality of attributes of the first buffer to an updated first state. While receiving the updates from the publisher, the nod may publish, from the second buffer to a first subscriber of the plurality of subscribers, one or more of the plurality of attributes in the second state.

A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

Growing community of inventors

Mountain View, CA, United States of America

Brian David Hoffman