Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-001/00
A61B-005/151
A61B-001/018
A61B-034/00
A61B-034/37
A61B-001/005
A61B-017/00
A61B-017/34
A61B-034/20
A61B-034/30
A61B-090/00
출원번호
US-0833333
(2015-08-24)
등록번호
US-9629520
(2017-04-25)
발명자
/ 주소
Diolaiti, Nicola
출원인 / 주소
Intuitive Surgical Operations, Inc.
인용정보
피인용 횟수 :
6인용 특허 :
262
초록▼
A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist t
A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.
대표청구항▼
1. A method for moving an articulated instrument back towards an entry guide, out of which the articulated instrument extends, with automatic reconfiguration of the articulated instrument for retraction into the entry guide, the method comprising: receiving, at a processor, information of a command,
1. A method for moving an articulated instrument back towards an entry guide, out of which the articulated instrument extends, with automatic reconfiguration of the articulated instrument for retraction into the entry guide, the method comprising: receiving, at a processor, information of a command, initiated from a control mechanism, to change the position of the articulated instrument in a direction parallel to a longitudinal axis of the entry guide;determining, by the processor, whether the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by a distance greater than a retraction-on distance in the direction parallel to the longitudinal axis of the entry guide relative to an initial position; andon the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, the articulated instrument to be reconfigured towards a retraction configuration suitable for entering the entry guide while the position of the articulated instrument is being changed in response to the command initiated from the control mechanism. 2. The method of claim 1, further comprising: on the condition that the information of the command indicates the distal end of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, an abrupt change to a haptic force applied against the control mechanism. 3. The method of claim 1, further comprising: receiving, at the processor, information of a sequence of commands, initiated from the control mechanism, to change the position of the articulated instrument in the direction parallel to the longitudinal axis of the entry guide;determining, by the processor, whether the information of the sequence of commands from the control mechanism indicates the distal end of the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed a limit distance from the initial position, wherein the limit distance is less than the retraction-on distance; andon the condition that the information of the sequence of commands from the control mechanism indicates the distal end of the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed a limit distance from the initial position, automatically commanding, by the processor, a progressively increasing haptic force applied against the control mechanism in response to the sequence of commands from the control mechanism. 4. The method of claim 3, further comprising: on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically commanding, by the processor, movement of the articulated instrument to be subject to a progressively increasing velocity limit as the sequence of commands indicate the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed the retraction-on distance from the initial position. 5. The method of claim 3, further comprising: determining, by the processor, whether one command of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by a distance that exceeds a maximum velocity distance from the initial position, wherein the maximum velocity distance is greater than the retraction-on distance; andon the condition that the information of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by the distance that exceeds the maximum velocity distance from the initial position, automatically commanding, by the processor, the articulated instrument to be moved in a manner which is subject to a maximum velocity limit. 6. A robotic system comprising: a control mechanism;an entry guide;an articulated instrument extending out of a distal end of the entry guide;an instrument manipulator configured to manipulate the articulated instrument; anda processor programmed to: receive information of a command, initiated from the control mechanism, to change a position of the articulated instrument in a direction parallel to a longitudinal axis of the entry guide;determine whether the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by a distance greater than a retraction-on distance in the direction parallel to the longitudinal axis of the entry guide relative to an initial position; andon the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically command the instrument manipulator to reconfigure the articulated instrument towards a retraction configuration suitable for entering the entry guide while the position of the articulated instrument is being changed in response to the command initiated from the control mechanism. 7. The system of claim 6, wherein the processor is programmed to: cause an abrupt change to a haptic force being applied against the control mechanism upon the command initiated from the control mechanism indicating the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position. 8. The system of claim 6, wherein the processor is programmed to: cause a progressively increasing haptic force to be applied against the control mechanism in response to a sequence of commands from the control mechanism to move the articulated instrument back towards the entry guide by distances which progressively exceed a limit distance from the initial position, wherein the limit distance is less than the retraction-on distance, and wherein the progressively increasing haptic force, the sequence of commands, and the distances which progressively exceed a limit distance correspond. 9. The system of claim 8, wherein the processor is programmed to: on the condition that the information of the command indicates the position of the articulated instrument is to be moved back towards the entry guide by the distance greater than the retraction-on distance from the initial position, automatically command the instrument manipulator to move the articulated instrument so as to be subject to a progressively increasing velocity limit as the sequence of commands correspondingly indicate the articulated instrument is to be moved back towards the entry guide by distances which progressively exceed the retraction-on distance from the initial position. 10. The system of claim 8, wherein the processor is programmed to: determine whether one of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by a distance that exceeds a maximum velocity distance from the initial position, wherein the maximum velocity distance is greater than the retraction-on distance; andon the condition that the information of the sequence of commands indicates the articulated instrument is to be moved back towards the entry guide by the distance that exceeds the maximum velocity distance from the initial position, automatically command the instrument manipulator to move the articulated instrument in a manner which is subject to a maximum velocity limit.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (262)
Nelson Arthur J. (P.O. Box 3007 Daly City CA 94015-0007), Accommodations to exchange containers between vessels.
Merril, Gregory L.; Cunningham, Richard L.; Brown, J. Michael; Cohen, Robert F.; Feldman, Philip G., Apparatus for controlling force for manipulation of medical instruments.
Diolaiti, Nicola; Lilagan, Paul E., Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose.
Moll, Frederic H.; Rosa, David J.; Ramans, Andris D.; Blumenkranz, Stephen J.; Guthart, Gary S.; Niemeyer, Gunter D.; Nowlin, William C.; Salisbury, Jr., J. Kenneth; Tierney, Michael J.; Mintz, David, Arm cart for telerobotic surgical system.
Akhil J. Madhani ; J. Kenneth Salisbury, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani Akhil J. ; Salisbury J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Madhani,Akhil J.; Salisbury,J. Kenneth, Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity.
Gunter D. Niemeyer ; Gary S. Guthart ; William C. Nowlin ; Nitish Swarup ; Gregory K. Toth ; Robert G. Younge, Camera referenced control in a minimally invasive surgical apparatus.
Niemeyer, Gunter D.; Guthart, Gary S.; Nowlin, William C.; Swarup, Nitish; Toth, Gregory K.; Younge, Robert G., Camera referenced control in a minimally invasive surgical apparatus.
Niemeyer,Gunter D.; Guthart,Gary S.; Nowlin,William C.; Swarup,Nitish; Toth,Gregory K; Younge,Robert G., Camera referenced control in a minimally invasive surgical apparatus.
Frushour James E. (Endwell NY) Mahar Michael L. (Newark Valley NY) Majka Christopher J. (Endicott NY) Swenson John E. (Greene NY), Collision avoidance system.
Diner Daniel B. (Pasadena CA) Venema Steven C. (Seattle WA), Composite video and graphics display for camera viewing systems in robotics and teleoperation.
Prisco, Giuseppe; Larkin, David Q.; Nowlin, William C, Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator.
Gomez, Daniel; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustafa, Tabish, Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide.
Ohm Timothy ; Das Hari ; Guillermo Rodriguez ; Boswell Curtis ; Paljug Eric ; Schenker Paul ; Barlow Ed ; Steve Charles, Decoupled six degree-of-freedom teleoperated robot system.
Red Walter E. (Provo UT) Davies Brady R. (Orem UT) Wang Xuguang (Provo UT) Turner Edgar R. (Provo UT), Device and method for correction of robot inaccuracy.
Salisbury, Jr., J. Kenneth; Niemeyer, Gunter D.; Younge, Robert G.; Guthart, Gary S.; Mintz, David S.; Cooper, Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Salisbury, Jr.,J. Kenneth; Niemeyer,Gunter D.; Younge,Robert G.; Guthart,Gary S.; Mintz,David S.; Cooper,Thomas G., Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure.
Taniguchi Akira,JPX ; Uchimura Sumihiro,JPX ; Ishii Tsukasa,JPX ; Hara Masanao,JPX ; Matsuura Nobuyuki,JPX ; Miyano Yasuo,JPX, Endoscope form detecting apparatus in which coil is fixedly mounted by insulating member so that form is not deformed within endoscope.
Kura, Yasuhito; Nishiie, Takehiro; Onuki, Yoshio; Murakami, Kazushi; Komiya, Takaaki, Endoscope system comprising endoscope to which medical instrument is attached.
Smith Kevin W. (Coral Gables FL) Kortenbach Juergen A. (Miami Springs FL) Slater Charles R. (Fort Lauderdale FL) Mazzeo Anthony I. (Fort Lauderdale FL) Slack ; Jr. Theodore C. (Miami FL) Bales Thomas, Endoscopic robotic surgical tools and methods.
Hannaford Blake (5634-12th Ave. NE. Seattle WA 98105) Moreyra Manuel R. (6050-6th Ave. NW. ; Apt. 1 Seattle WA 98107) Marbot Pierre-Henry M. J. (4742-22nd Ave. NE. Seattle WA 98105), Five axis direct-drive mini-robot having fifth actuator located at non-adjacent joint.
Madhani Akhil J. ; Salisbury J. Kenneth, Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced.
Bieger, Johannes; Graumann, Rainer; Rahn, Norbert, Fully automatic, robot-assisted camera guidance system employing position sensors for laparoscopic interventions.
Nowlin, William C.; Guthart, Gary S.; Younge, Robert G.; Cooper, Thomas G.; Gerbi, Craig; Blumenkranz, Steven J.; Hoornaert, Dean F., Grip strength with tactile feedback for robotic surgery.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) Ta, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Glassman Edward (New York NY) Hanson William A. (Mountain View CA) Kazanzides Peter (Davis CA) Mittelstadt Brent D. (Placerville CA) Musits Bela L. (Hopewell Junction NY) Paul Howard A. (Loomis CA) T, Image-directed robotic system for precise robotic surgery including redundant consistency checking.
Cooper, Thomas G.; Julian, Christopher A.; Ikeda, Michael; Wallace, Daniel T.; Rosa, David J.; Ramans, Andris D.; Moll, Frederic H.; Younge, Robert G., In vivo accessories for minimally invasive robotic surgery and methods.
Devengenzo, Roman L.; Cooper, Thomas G.; Orban, III, Joseph P.; Schena, Bruce; Loh, Alan; Anderson, S. Christopher, Instrument interface of a robotic surgical system.
Allen George S. (628 Westview Ave. Nashville TN 37205) Galloway ; Jr. Robert L. (7736 Indian Springs Dr. Nashville TN 37221) Maciunas Robert J. (6320 Chickering Woods La. Nashville TN 37215) Edwards , Interactive image-guided surgical system.
Allen George S. (628 Westview Ave. Nashville TN 37205) Galloway ; Jr. Robert L. (7736 Indian Springs Dr. Nashville TN 37221) Maciunas Robert J. (6320 Chickering Woods La. Nashville TN 37215) Edwards , Interactive image-guided surgical system for displaying images corresponding to the placement of a surgical tool or the.
DiMaio, Simon P.; Hasser, Christopher J.; Taylor, Russell H.; Larkin, David Q.; Kazanzides, Peter; Deguet, Anton; Vágvölgyi, Bálazs Peter; Leven, Joshua, Interactive user interfaces for robotic minimally invasive surgical systems.
Tognaccini, Marc E.; Gomez, Daniel H.; Diolaiti, Nicola; Mustufa, Tabish; Mitra, Probal; Lilagan, Paul E., Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide.
Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel H.; Mustufa, Tabish; Mohr, Paul W.; Lilagan, Paul E., Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip.
Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel; Mustafa, Tabish; Mohr, Paul W.; Lilagan, Paul, Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip.
Diolaiti, Nicola; Lilagan, Paul E., Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument.
Zehel Wendell E. (553 Harrogate Rd. Pittsburgh PA 15241) Baumann Dwight M. (1235 Squirrel Hill Ave. Pittsburgh PA 15217) Brenner William B. (81 Chapel Ridge Pl. Pittsburgh PA 15238), Method and apparatus for conducting exploratory procedures.
Manwaring Kim H. (3440 E. Tonto Dr. Ahwatukee AZ 85044) Manwaring Mark L. (SW. 1430 Wadleigh Dr. Pullman WA 99163), Method and apparatus for guiding an instrument to a target.
Riley Donald R. (Edina MN) Zhu Yang (St. Paul MN) Rekow Elizabeth D. (Fridley MN) Ahn Jeong-Ho (Lauderdale MN) Klamecki Barney (Minneapolis MN) Erdman Arthur G. (New brighton MN), Method and apparatus for manipulating computer-based representations of objects of complex and unique geometry.
Wang Yulun ; Uecker Darrin R. ; Jordan Charles S. ; Wright James W. ; Laby Keith Phillip ; Wilson Jeff D., Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith Phillip ; Wilson Jeff ; Jordan Steve ; Wright James, Method and apparatus for performing minimally invasive cardiac procedures.
Wang Yulun ; Uecker Darrin R. ; Laby Keith P. ; Wilson Jeff D. ; Jordan Charles S. ; Ghodoussi Modjtaba ; Wright James W., Method and apparatus for performing minimally invasive surgical procedures.
Wang, Yulun; Uecker, Darrin; Laby, Keith P.; Wilson, Jeff D.; Jordan, Charles S.; Wright, James W.; Ghodoussi, Modjtaba, Method and apparatus for performing minimally invasive surgical procedures.
Wang, Yulun; Uecker, Darrin; Laby, Keith P.; Wilson, Jeff D.; Jordan, Charles S.; Wright, James W.; Ghodoussi, Modjtaba, Method and apparatus for performing minimally invasive surgical procedures.
Yulun Wang ; Darrin Uecker ; Keith Laby ; Jeff Wilson ; Charles Jordan ; James Wright ; Modjtaba Ghodoussi, Method and apparatus for performing minimally invasive surgical procedures.
Sklar H. Alfred (San Francisco CA) Frank Alan M. (Livermore CA) Ferrer Olga M. (Miami FL) McMillan Charles F. (Livermore CA) Brown Stewart A. (Livermore CA) Rienecker Fred (Pleasanton CA) Harriss Pau, Method and apparatus for precision laser surgery.
McGee H. Dean (Rochester Hills MI) Krause Kenneth W. (Rochester MI) Coldren Bruce E. (Troy MI), Method and system for automatically determining the position and orientation of an object in 3-D space.
Funda Janez ; LaRose David Arthur ; Taylor Russell Highsmith, Method of creating an image of an anatomical feature where the feature is within a patient's body.
Ito, Tsutomu; Ueda, Hirotada, Method of editing a video program with variable view point of picked-up image and computer program product for displaying video program.
Zhao, Wenyi; Hasser, Christopher J J; Nowlin, William C.; Hoffman, Brian D., Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information.
Wang,Yulun; Ghodoussi,Modjtaba; Uecker,Darrin; Wright,James; Mangaser,Amante; Mukherjee,Ranjan, Minimally invasive surgical training using robotics and telecollaboration.
Guthart, Gary S.; Larkin, David Q.; Rosa, David J.; Mohr, Paul W.; Prisco, Giuseppe, Non-force reflecting method for providing tool force information to a user of a telesurgical system.
Wright Scott M. (69 Lakewood Dr. Mineral City OH 44656) Wright Raymond E. (69 Lakewood Dr. Mineral City OH 44656), Optical attenuator movement detection system.
Philip C. Evans ; Frederic H. Moll ; Gary S. Guthart ; William C. Nowlin ; Rand P. Pendleton ; Christopher P. Wilson ; Andris D. Ramans ; David J. Rosa ; Volkmar Falk ; Robert G. Younge, Performing cardiac surgery without cardioplegia.
Bales Thomas O. (Coral Gables FL) Murphy Gregory J. (Sunrise FL) Scarfone Frank A. (Boca Raton FL) Slater Charles R. (Fort Lauderdale FL) Smith Kevin W. (Miami FL), Ratchet locking mechanism for surgical instruments.
Guthart, Gary S.; Mintz, David S.; Niemeyer, Gunter D.; Salisbury, Jr., J. Kenneth; Younge, Robert G., Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system.
Guthart, Gary S.; Niemeyer, Gunter D.; Younge, Robert G.; Salisbury, J. Kenneth; Cooper, Thomas G., Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system.
Roberts David W. (Hanover NH) Strohbehn John W. (Norwich VT) Hatch John F. (Shrewsbury MA), Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope.
Taylor Russell H. (Yorktown NY) Funda Janez (Valhalla NY) Grossman David D. (Chappaqua NY) Karidis John P. (Ossining NY) LaRose David A. (Croton on Hudson NY), Remote center-of-motion robot for surgery.
Coughlan Joel B. (Knox County TN) Harvey Howard W. (Roane County TN) Upton R. Glen (Anderson County TN) White John R. (Roane County TN), Remote manipulator.
Nowlin, William C.; Guthart, Gary S.; Salisbury, Jr., J. Kenneth; Niemeyer, Gunter D., Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
William C. Nowlin ; Gary S. Guthart ; J. Kenneth Salisbury, Jr. ; Gunter D. Niemeyer, Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery.
Matsen ; III Frederick A. (Seattle WA) Garbini Joseph L. (Seattle WA) Sidles John A. (Seattle WA) Baumgarten Donald C. (Lynnwood WA) Pratt Brian S. (Seattle WA), Robot-aided system for surgery.
Funda Janez (Valhalla NY) LaRose David A. (Croton on Hudson NY) Taylor Russell H. (Ossining NY), Robotic system for positioning a surgical instrument relative to a patient\s body.
Bernard Christopher J. ; Kang Hyosig ; Sachs Barton L. ; Singh Sunil K. ; Wen John T., Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery.
Tierney Michael J. ; Cooper Thomas G. ; Julian Chris A. ; Blumenkranz Stephen J. ; Guthart Gary S. ; Younge Robert G., Surgical robotic tools, data architecture, and use.
Costa, Michael; Robinson, David; Hanuschik, Michael L.; Goldberg, Randal P.; Millman, Paul, System and method for adjusting an image capturing device attribute using an unused degree-of-freedom of a master control device.
Funda Janez (Valhalla NY) LaRose David A. (Croton on Hudson NY) Taylor Russell H. (Ossining NY), System and method for augmentation of endoscopic surgery.
Cline Harvey E. (Schenectady NY) Lorensen William E. (Ballston Lake NY) Ludke Siegwalt (Scotia NY), System and method for displaying oblique planar cross sections of a solid body using tri-linear interpolation to determi.
Taylor Russell Highsmith (Ossining NY) Kim Yong-yil (Seoul KRX), System for manipulating movement of a surgical instrument with computer controlled brake.
Tuy Heang K. (Cleveland OH) Krochta Todd J. (Akron OH) Mailey Frederick C. (South Euclid OH) Lin Hsayjern (Richmond Hgts. OH), System to reformat images for three-dimensional display using unique spatial encoding and non-planar bisectioning.
Chalek Carl Lawrence ; Leue William Macomber ; Hatfield William Thomas, Task-interface and communications system and method for ultrasound imager control.
Conway Lynn A. (Ann Arbor MI) Volz Richard A. (Saline MI) Walker Michael W. (Ann Arbor MI), Tele-autonomous system and method employing time/position synchrony/desynchrony.
Mick Peter R. (4 Stonybrook Trail Kinnelon NJ 07405) Savet Mark (50 Sutton Pl. South New York NY 10022), Three-dimensional mammal anatomy imaging system and method.
Wang Yulun (Goleta CA) Srinivasan Partha (Goleta CA), Three-dimensional vector co-processor having I, J, and K register files and I, J, and K execution units.
Madhani Akhil J. ; Salisbury J. Kenneth, Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitiv.
Gomez, Daniel H.; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustufa, Tabish, Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide.
Mustufa, Tabish; Diolaiti, Nicola; Larkin, David Q., Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide.
Itkowitz, Brandon D.; Halabe, Daniel J.; Zhao, Tao; DiMaio, Simon P.; Hasser, Christopher J.; Mohr, Catherine J.; Mohr, Paul W.; Larkin, David Q.; Hoffman, Brian David; Zhao, Wenyi, Rendering tool information as graphic overlays on displayed images of tools.
Itkowitz, Brandon D.; DiMaio, Simon P.; Halabe, Daniel J.; Hasser, Christopher J.; Hoffman, Brian D.; Larkin, David Q.; Mohr, Catherine J.; Mohr, Paul W.; Zhao, Tao; Zhao, Wenyi, Synthetic representation of a surgical robot.
※ AI-Helper는 부적절한 답변을 할 수 있습니다.