IP Library › Granted Patent US 12,239,396
Granted Patent B2
US 12,239,396 · App. 17/835,631 · Granted Mar 4, 2025

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

Inventors: Marc E. Tognaccini (Morgan Hill, CA); Daniel H. Gomez (Los Gatos, CA); Nicola Diolaiti (Menlo Park, CA); Tabish Mustufa (Sunnyvale, CA); Probal Mitra (Woodside, CA); Paul E. Lilagan (Sunnyvale, CA)
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
A61B34/30A61B1/00183A61B1/018A61B1/04A61B34/37A61B1/00193A61B34/10A61B2034/101A61B2034/102A61B2034/104A61B2034/107A61B34/20A61B2034/2051A61B2034/2059A61B2034/301A61B2034/302A61B2034/303A61B2034/305A61B2034/306A61B34/35A61B90/00A61B2090/0811A61B90/361A61B90/37A61B2090/3762
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Quick Facts
Patent No.
US 12,239,396
App. No.
17/835,631
Granted
Mar 4, 2025
Kind
B2
Abstract

A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

Claims (33)

1. A medical system comprising:

an entry guide;

a display; and

a processor configured to:

receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide;

generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device; and

cause the view to be displayed on the display.

2. The medical system of claim 1 , wherein the graphical representation of the field of view of the articulatable image capture device includes a graphical representation of a spatial boundary of the field of view.

3. The medical system of claim 2 , wherein the graphical representation of the spatial boundary includes one of a frustrum, a truncated cone, or a truncated pyramid.

4. The medical system of claim 2 , wherein the graphical representation of the spatial boundary includes a base on which is displayed an image captured by the image capture device.

5. The medical system of claim 1 , wherein the graphical representation of the distal end portion is movable responsive to the received state information and wherein the graphical representation of the field of view moves with the graphical representation of the distal end portion such that the field of view is displayed as emanating from the distal end portion.

6. The medical system of claim 1 , wherein the state information includes position and orientation information for the distal end portion of the articulatable image capture device.

7. The medical system of claim 1 further comprising the articulatable image capture device.

8. The medical system of claim 7 , wherein the articulatable image capture device includes a stereo camera.

9. The medical system of claim 7 , wherein the articulatable image capture device includes one or more sensors providing the state information.

10. The medical system of claim 1 , wherein the graphical representation of the distal end portion of the articulatable image capture device is a three-dimensional model of the distal end portion of the articulatable image capture device.

11. The medical system of claim 1 , wherein the view is an auxiliary view and wherein the processor is further configured to cause the auxiliary view to be displayed with an image captured by the image capture device on the display.

12. The medical system of claim 11 , wherein the auxiliary view is overlayed on the captured image.

13. A medical system comprising:

an entry guide;

a display; and

a processor configured to:

receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide;

generate an auxiliary view including a graphical representation of a field of view of the articulatable image capture device extending distally from a distal end portion of the articulatable image capture device;

generate an image captured by the articulatable image capture device; and

cause the auxiliary view to be displayed as an overlay on the captured image on the display.

14. The medical system of claim 13 wherein auxiliary view includes a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information wherein the graphical representation of the field of view extends distally from the distal end portion of the articulatable image capture device.

15. The medical system of claim 13 , wherein the graphical representation of the field of view of the articulatable image capture device includes a graphical representation of a spatial boundary of the field of view.

16. The medical system of claim 15 , wherein the graphical representation of the spatial boundary includes one of a frustrum, a truncated cone, or a truncated pyramid.

17. The medical system of claim 13 , wherein the state information includes position and orientation information for the distal end portion of the articulatable image capture device.

18. The medical system of claim 13 further comprising the articulatable image capture device.

19. The medical system of claim 18 , wherein the articulatable image capture device includes a stereo camera.

20. The medical system of claim 18 , wherein the articulatable image capture device includes one or more sensors providing the state information.

Assignments (2)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jun 9, 2022
From: TOGNACCINI, MARC E.; GOMEZ, DANIEL H.; DIOLAITI, NICOLA; MUSTUFA, TABISH; MITRA, PROBIL; LILAGAN, PAUL E.
To: INTUITIVE SURGICAL, INC.
Reel/Frame 060153/0220 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jun 9, 2022
From: INTUITIVE SURGICAL, INC.
To: INTUITIVE SURGICAL OPERATIONS, INC.
Reel/Frame 060153/0501 →
Continuity (6)
Continuation 16446167 · Jun 19, 2019
Continuation 15646685 · Jul 11, 2017
Continuation 14748602 · Jun 24, 2015
Division 12489566 · Jun 23, 2009
Continuation In Part 12163087 · Jun 27, 2008
Related Publication 20220354600A1 · Nov 10, 2022
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