Intuitive Surgical Operations, Inc.

Simon P Dimaio

Brandon D Itkowitz

Tao Zhao

Mahdi Azizian

Brian David Hoffman

Paul W Mohr

Wenyi Zhao

William C Nowlin

Jonathan Michael Sorger

Dinesh Rabindran

Christopher J Hasser

Anthony Michael Jarc

Govinda Payyavula

David Q Larkin

Catherine J Mohr

Ian E McDowall

Paul E Lilagan

Kollin Myles Tierling

Gary S Guthart

David Joseph Rosa

Dorin Panescu

Vincent Duindam

Giuseppe Maria Prisco

Stephen J Blumenkranz

David W Robinson

David S Mintz

Gunter D Niemeyer

Theodore W Rogers

David D Scott

Jason W Hemphill

Mark Earl Froggatt

Federico Barbagli

David W Bailey

Alan Eton Loh

Lawton N Verner

Daniel J Halabe

Henry C Lin

Brent Tokarchuk

Craig Gotsill

Ambarish G Goswami

Sophia R Hannaford

Marisa C Babb

Omid Mohareri

Joey Chau

Christopher R Burns

Gerard J Labonville

Patrick O'Grady

May Quo-Mei Liu

John William Henrie

John D Seaman, Ii

Rodney Vance

Changyeob Shin

Hubert Stein

Huan L Phan

Myriam J Curet

Xingchi He

Günter D Niemeyer

Tabish Mustafa

Karlin Y Bark

Hanifa Dostmohamed

Johnathan M Sorger

Terrence B McKenna, Iii

James Zachary Woodruff

Cortney Jansen

Ian E Mcdowall

John D Ii Seaman

Karen C Brandao

Huan Lac Phan

Bruce Michael Schena

Gregory W Dachs Iii

Gary S Guthar

A coordination system for coordinating remote assistance of a medical system involves a support agent executed by a computer processor. The support agent is configured to receive a first support request submitted by a user of the medical system, and identify a support person to respond to the first support request from a multitude of support persons by applying a support person identification logic to a system-internal context. The system-internal context is obtained from a system awareness engine configured to detect information about the medical system. The support agent is further configured to facilitate contact of the support person.

Method and system for coordinating user assistance

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 method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

Systems and methods for projecting an endoscopic image to a three-dimensional volume

A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.

System and method for coordinated motion among heterogeneous devices

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

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

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 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.

Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system

Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

Method and system for control using hand tracking

A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.

Surgical platform supported and controlled by multiple arms

A system includes a tool, an input device, a shape sensor system, and a processing unit. The processing unit is configured to determine a state estimate of the input device based on shape information from the shape sensor system, and control the tool based on the state estimate.

Systems and methods for controlling a robotic manipulator or associated tool

A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Steerable flexible needle with embedded shape sensing

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 teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

Master/slave registration and control for teleoperation

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San Carlos, CA, United States of America

Simon P Dimaio