Patents by Inventor Christopher J. Hasser
Christopher J. Hasser has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 9005112Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.Type: GrantFiled: March 29, 2012Date of Patent: April 14, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: Christopher J. Hasser, Nitish Swarup, Thomas G. Cooper, S. Christopher Anderson
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Publication number: 20150025392Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.Type: ApplicationFiled: August 3, 2014Publication date: January 22, 2015Applicant: Intuitive Surgical Operations Inc.Inventors: WENYI ZHAO, CHENYU WU, DAVID HIRVONEN, CHRISTOPHER J. HASSER, BRIAN E. MILLER, CATHERINE J. MOHR, TAO ZHAO, SIMON DI MAIO, BRIAN D. HOFFMAN
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Publication number: 20150005622Abstract: In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.Type: ApplicationFiled: June 25, 2014Publication date: January 1, 2015Inventors: Wenyi Zhao, Christopher J. Hasser, William C. Nowlin, Brian D. Hoffman
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Publication number: 20140282196Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.Type: ApplicationFiled: March 14, 2014Publication date: September 18, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Wenyi Zhao, Christopher J. Hasser, Brandon D. Itkowitz, Paul E. Lilagan, David D. Scott, Paul W. Mohr, Simon P. DiMaio, David W. Robinson, Tao Zhao
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Patent number: 8830224Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.Type: GrantFiled: May 13, 2009Date of Patent: September 9, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Wenyi Zhao, Chenyu Wu, David Hirvonen, Christopher J. Hasser, Brian E. Miller, Catherine J. Mohr, Myrian J. Curet, Tao Zhao, Simon Di Maio, Brian D. Hoffman
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Patent number: 8792963Abstract: In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.Type: GrantFiled: September 30, 2011Date of Patent: July 29, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Wenyi Zhao, Christopher J. Hasser, William C. Nowlin, Brian D. Hoffman
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Publication number: 20140137667Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.Type: ApplicationFiled: December 9, 2013Publication date: May 22, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Christopher J. Hasser
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Publication number: 20140055489Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.Type: ApplicationFiled: February 15, 2013Publication date: February 27, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Daniel J. Halabe, Tao Zhao, Simon P. DiMaio, Christopher J. Hasser, Catherine J. Mohr, Paul W. Mohr, David Q. Larkin, Brian David Hoffman, Wenyi Zhao
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Patent number: 8621939Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.Type: GrantFiled: July 1, 2013Date of Patent: January 7, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Christopher J. Hasser
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Publication number: 20130331650Abstract: A surgical instrument that includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer is disclosed. The plurality of strain gauges are coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer, which can be coupled to a fiber optic connector. A wrist joint coupled to an end effector is coupled to a distal end of the force transducer. A robotic surgical manipulator that includes a base link coupled to a distal end of a manipulator positioning system, and a distal link with an instrument interface, and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.Type: ApplicationFiled: May 10, 2013Publication date: December 12, 2013Applicant: Intuitive Surgical, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian McDowall, Christopher J. Hasser
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Publication number: 20130291654Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.Type: ApplicationFiled: July 1, 2013Publication date: November 7, 2013Inventors: Stephen J. BLUMENKRANZ, Christopher J. HASSER
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Publication number: 20130245375Abstract: In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.Type: ApplicationFiled: February 25, 2013Publication date: September 19, 2013Applicants: The Johns Hopkins University c/o John Hopkins Technology Transfer, Intuitive Surgical Operations, Inc.Inventors: Simon P. DiMaio, Christopher J. Hasser, Russell H. Taylor, David Q. Larkin, Peter Kazanzides, Anton Deguet, Balazs Peter Vagvolgyi, Joshua Leven
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Patent number: 8496647Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.Type: GrantFiled: December 18, 2007Date of Patent: July 30, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Christopher J. Hasser
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Patent number: 8463439Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: GrantFiled: March 31, 2009Date of Patent: June 11, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian McDowall, Christopher J. Hasser
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Patent number: 8398541Abstract: In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.Type: GrantFiled: August 11, 2008Date of Patent: March 19, 2013Assignees: Intuitive Surgical Operations, Inc., Johns Hopkins UniversityInventors: Simon P. DiMaio, Christopher J. Hasser, Russell H. Taylor, David Q. Larkin, Peter Kazanzides, Anton Deguet, Bálazs Peter Vágvölgyi, Joshua Leven
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Publication number: 20130046137Abstract: A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface.Type: ApplicationFiled: August 15, 2011Publication date: February 21, 2013Applicant: Intuitive Surgical Operations, Inc.Inventors: Tao Zhao, Simon P. DiMaio, David W. Bailey, Amy E. Kerdok, Gregory W. Dachs, II, Stephen J. Blumenkranz, Austin Reiter, Christopher J. Hasser
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Publication number: 20120190920Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.Type: ApplicationFiled: March 29, 2012Publication date: July 26, 2012Applicant: Intuitive Surgical Operations, Inc.Inventors: Christopher J. Hasser, Nitish Swarup, Thomas G. Cooper, S. Christopher Anderson
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Patent number: 8228368Abstract: An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.Type: GrantFiled: June 30, 2008Date of Patent: July 24, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Wenyi Zhao, Catherine J. Mohr, Christopher J. Hasser, Brian D. Hoffman, John D. Stern, Tao Zhao
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Publication number: 20120154564Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.Type: ApplicationFiled: February 29, 2012Publication date: June 21, 2012Applicant: Intuitive Surgical Operations, Inc.Inventors: Brian David Hoffman, Christopher J. Hasser, William C. Nowlin
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Patent number: 8169468Abstract: A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.Type: GrantFiled: June 30, 2008Date of Patent: May 1, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: David Scott, Wenyi Zhao, Christopher J. Hasser, Brian D. Hoffman, Paul Lilagan, Ian McDowall, Catherine J. Mohr, John D. Stern, Tao Zhao