Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
A61B-019/00
A61B-034/30
A61B-001/018
A61B-001/04
A61B-034/37
A61B-001/00
A61B-034/10
A61B-090/00
A61B-034/20
출원번호
US-0748602
(2015-06-24)
등록번호
US-9717563
(2017-08-01)
발명자
/ 주소
Tognaccini, Marc E.
Gomez, Daniel H.
Diolaiti, Nicola
Mustufa, Tabish
Mitra, Probal
Liligan, Paul E.
출원인 / 주소
Intuitive Surgical Operations, Inc.
인용정보
피인용 횟수 :
9인용 특허 :
270
초록▼
A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherw
A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
대표청구항▼
1. A medical system comprising: an entry guide;a first articulatable instrument controllably extending out of a distal end of the entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end the entry guide
1. A medical system comprising: an entry guide;a first articulatable instrument controllably extending out of a distal end of the entry guide, the first articulatable instrument having a most proximal joint and a most distal joint, the most distal joint disposed beyond the distal end the entry guide;a display screen; anda processor programmed to receive information of states of the entry guide and the first articulatable instrument, generate a view by including a graphical representation of the most distal joint of the first articulatable instrument and a graphical representation of a spatial boundary for the first articulatable instrument, the spatial boundary being a function of a position of the most distal joint relative to the distal end of the entry guide, and the graphical representation being positioned in the view by using the received information and by using forward kinematics of the entry guide and the first articulatable instrument, and display the view on the display screen. 2. The medical system according to claim 1, wherein the view is generated from a perspective looking in a distal direction from the distal end of the entry guide. 3. The medical system according to claim 2, wherein the first articulated instrument comprises: first, second and third links; anda second joint;wherein the most proximal joint couples a distal end of the first link to a proximal end of the second link so that the second link is rotatable relative to the first link at the most proximal joint; andwherein the second joint couples a distal end of the second link to a proximal end of the third link so that the third link rotates relative to the second link at the second joint in tandem with rotation of the most proximal joint in such a fashion that longitudinal axes of the first and third links are parallel to each other;wherein the distal end of the entry guide has a first lumen;wherein the first articulatable instrument extends through the first lumen;wherein the generated view includes at least one of an outline of the distal end of the entry guide and a graphical representation of the most proximal joint of the first articulatable instrument; andwherein the graphical representation of the most proximal joint of the first articulatable instrument appears in the generated view as a first object that is positioned in the generated view where the first lumen would be relative to the outline of the distal end of the entry guide when the generated view includes the graphical representation of the most proximal joint of the first articulatable instrument. 4. The medical system according to claim 3, wherein the first articulatable instrument comprises: a first device having a proximal end and a distal tip;wherein the most distal joint of the first articulatable instrument couples a distal end of the third link of the first articulatable instrument to the proximal end of the first device so that the first device is rotatable relative to the third link at the most distal joint;wherein the graphical representation of the most distal joint of the first articulatable instrument appears as a second object that is positioned in the generated view so as to reflect at least one angle of rotation of the first link about a central axis of the first link, and a length of the second link. 5. The medical system according to claim 4, wherein the generated view includes a graphical representation of the distal tip of the first device as a third object that is positioned in the generated view so as to reflect at least one angle of rotation of the first device about the most proximal joint of the first articulatable instrument, an angle of rotation of the first link about the central axis of the first link, and a length that the distal tip of the first device extends from the most proximal joint of the first articulatable instrument. 6. The medical system according to claim 5, wherein the graphical representation of the spatial boundary comprises a boundary circle sharing a common center with the first object when the generated view includes the graphical representation of the most proximal joint of the first articulatable instrument. 7. The medical system according to claim 6, wherein the second object is depicted in the generated view as changing color as the second object approaches the boundary circle. 8. The medical system according to claim 6, wherein at least a portion of the boundary circle is depicted in the generated view as changing color as the second object approaches the boundary circle. 9. The medical system according to claim 5, wherein the first link of the first articulatable instrument instruments is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated in the generated view by lengths of rays emanating away from at least one of the first, second, and third objects. 10. The medical system according to claim 5, wherein the first link of the first articulatable instrument is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated by a change in color of at least one of the first, second, and third objects. 11. The medical system according to claim 5, wherein the first link of the first articulatable instrument is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated by a change in relative sizes between at least two of the first, second, and third objects. 12. The medical system according to claim 5, wherein the generated view further comprises graphical representations of a first segment connecting the first and second objects and a second segment connecting the second and third objects, wherein the first link of the first articulatable instrument is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated by a change in color of at least one of the first and second segments. 13. The medical system according to claim 5, wherein the generated view further comprises graphical representations of a first segment connecting the first and second objects and a second segment connecting the second and third objects, wherein the first link of the first articulatable instrument is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated by a change in size of at least one of the first and second segments. 14. The medical system according to claim 5, wherein the generated view further comprises graphical representations of a first segment connecting the first and second objects and a second segment connecting the second and third objects, wherein the first link of the first articulatable instrument is extendable out of the distal end of the entry guide, and wherein a length of extension of the first link is indicated by a change in shape of at least one of their corresponding first and second segments. 15. The medical system according to claim 5, wherein the first device of the first articulatable instrument includes a first element hinged to a second element so that the first and second elements are controllably opened and closed so as to result in an angle between the first and second elements, and wherein the third object corresponding to the first device has two jaws displayed so as to indicate the angle between the first and second elements. 16. The medical system according to claim 5, wherein the first device of the first articulatable instrument includes an image capturing element of an articulatable camera instrument, and wherein the displayed generated view supplements an image displayed on the display screen which is derived from an image captured by the articulatable camera instrument. 17. The medical system according to claim 16, wherein the third object corresponding to the image capturing element of the articulatable camera instrument has an area displayed on the display screen so as to indicate a field-of-view of the articulatable camera instrument. 18. A method for repositioning an entry guide to increase an available range of motion of at least one of a plurality of articulatable instruments extending out of a distal end of the entry guide, wherein each of the plurality of articulatable instruments has a plurality of joints including a most distal joint, and wherein an available range of motion of each of the plurality of articulatable instruments is a function of a relative position of the most distal joint of the articulatable instrument to the distal end of the entry guide, the method comprising: determining positions of the entry guide, the most distal joint of each of the plurality of articulatable instruments, and the available range of motion of each of the plurality of articulatable instruments;displaying graphical representations of the most distal joint and the available range of motion for each of the plurality of articulatable instruments according to their respectively determined positions on a display screen; andmoving the entry guide according to operator manipulation of an input device so as to increase the available range of motion of at least one of the plurality of articulatable instruments while the operator is viewing the display screen and while the most distal joints of the plurality of articulatable instruments are being controllably held in place. 19. The method of claim 18, further comprising: displaying an indication on the display screen that the at least one of the plurality of articulatable instruments is nearing a range of motion limit prior to moving the entry guide according to operator manipulation of the input device. 20. The method of claim 18, wherein the graphical representation of the available range of motion of each of the plurality of articulatable instruments is either displayed on the display screen by a first line style if the articulatable instrument is an operator manipulatable articulatable instrument or displayed on the display screen in a different manner than the first line style if the articulatable instrument is not an operator manipulatable articulatable instrument.
연구과제 타임라인
LOADING...
LOADING...
LOADING...
LOADING...
LOADING...
이 특허에 인용된 특허 (270)
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.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W.; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary S., Software center and highly configurable robotic systems for surgery and other uses.
Nowlin, William C.; Mohr, Paul W; Schena, Bruce M.; Larkin, David Q.; Guthart, Gary, Software center and highly configurable robotic systems for surgery and other uses.
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.