Patents by Inventor Brandon D. Itkowitz

Brandon D. Itkowitz 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).

  • Publication number: 20210153960
    Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.
    Type: Application
    Filed: February 4, 2021
    Publication date: May 27, 2021
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz, Thomas R. Nixon
  • Publication number: 20210132701
    Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.
    Type: Application
    Filed: January 12, 2021
    Publication date: May 6, 2021
    Inventors: Xingchi HE, Brandon D. ITKOWITZ
  • Patent number: 10993772
    Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.
    Type: Grant
    Filed: January 8, 2019
    Date of Patent: May 4, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Paul G. Griffiths, Jason Hemphill, Goran A. Lynch, Daniel N. Miller, Patrick O'Grady, Nitish Swarup, Kamyar Ziaei
  • Publication number: 20210113277
    Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit coupled to the articulated arm. The control unit is configured to receive information of a first motion of a table. The first motion of the table caused a corresponding second motion of a point associated with the articulated arm. The control unit further configured to receive information of the second motion and determine a first angular relationship between the table and the computer-assisted device based on the first motion and the second motion.
    Type: Application
    Filed: December 24, 2020
    Publication date: April 22, 2021
    Inventors: Paul G. GRIFFITHS, Brandon D. ITKOWITZ
  • Patent number: 10984567
    Abstract: 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: Grant
    Filed: March 12, 2019
    Date of Patent: April 20, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian David Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Publication number: 20210077210
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.
    Type: Application
    Filed: November 30, 2020
    Publication date: March 18, 2021
    Inventors: Brandon D. ITKOWITZ, Simon P. DIMAIO, William C. NOWLIN, Gunter D. NIEMEYER, David S. MINTZ
  • Publication number: 20210068799
    Abstract: A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.
    Type: Application
    Filed: May 14, 2019
    Publication date: March 11, 2021
    Inventors: Brandon D. Itkowitz, Pushkar Hingwe
  • Patent number: 10932873
    Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.
    Type: Grant
    Filed: October 2, 2018
    Date of Patent: March 2, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz, Thomas R. Nixon
  • Patent number: 10929656
    Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
    Type: Grant
    Filed: July 31, 2019
    Date of Patent: February 23, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Tao Zhao
  • Patent number: 10921897
    Abstract: A system and method of assisting operator engagement with input devices includes an input device, a hand detection system, and a control unit. The control unit is configured to detect the hand of the operator using the hand detection system; in response to a trigger condition, command the input device to move from a first to a second position; and in response to a signal indicating an input provided by the operator to the input device, command a motion of an end effector associated with the input device. The second position is closer to a grasping position for the hand than the first position. In some embodiments, the control unit is further configured to, in response to the trigger condition, command the input device to move from a first to a second orientation. The second orientation is closer to a grasping orientation for the hand than the first orientation.
    Type: Grant
    Filed: January 16, 2019
    Date of Patent: February 16, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Xingchi He, Brandon D. Itkowitz
  • Publication number: 20210038340
    Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.
    Type: Application
    Filed: October 18, 2018
    Publication date: February 11, 2021
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Paul W. Mohr, Theodore W. Rogers
  • Patent number: 10905500
    Abstract: A system and method of registration includes detecting a first motion of a table that causes motion of a computer-assisted device, determining a first angular direction of the first motion in a table coordinate frame, determining a second angular direction of the motion of the computer-assisted device in a computer-assisted device coordinate frame, determining a first angular relationship between the table and the computer-assisted device based on the first and second angular directions, and aggregating the first angular relationship in a composite angular relationship. The second angular direction includes a direction of a second motion of a first articulated arm of the computer-assisted device or an aggregation of a plurality of angular directions, wherein, for each angular direction of the plurality of angular directions, that angular direction is of a respective third motion, of a respective articulated arm of a plurality of articulated arms of the computer-assisted device.
    Type: Grant
    Filed: December 24, 2019
    Date of Patent: February 2, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Brandon D. Itkowitz
  • Patent number: 10905506
    Abstract: A system comprises a teleoperational assembly including an operator control system and a plurality of manipulators. A first manipulator is configured to control a medical instrument in a surgical environment. A second manipulator is configured to control an imaging instrument. The system further comprises a processing unit configured to: display an image of a field of view of the surgical environment captured by the imaging instrument; determine a position of a distal portion of the medical instrument in an image coordinate space; determine an initial position for a badge associated with the distal portion; determine a badge placement boundary, which is inside the image, for the image by determining a viewable space boundary for the image; and adjust the badge from the initial position to a display position within the badge placement boundary by determining an inset boundary between the badge placement boundary and the viewable space boundary.
    Type: Grant
    Filed: April 22, 2020
    Date of Patent: February 2, 2021
    Assignee: Intuitive Surgical Operations, Inc
    Inventors: Brandon D. Itkowitz, Paul W. Mohr
  • Publication number: 20210015568
    Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.
    Type: Application
    Filed: October 7, 2020
    Publication date: January 21, 2021
    Inventors: Hsien-Hsin LIAO, Brandon D. ITKOWITZ, Julie L. BERRY, Pushkar HINGWE
  • Patent number: 10881473
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: January 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. Dimaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
  • Publication number: 20200368915
    Abstract: 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. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
    Type: Application
    Filed: July 17, 2020
    Publication date: November 26, 2020
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian D. Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Publication number: 20200345438
    Abstract: A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.
    Type: Application
    Filed: October 17, 2018
    Publication date: November 5, 2020
    Inventors: Robert G. Stricko, III, Brandon D. Itkowitz, Amy E. Kerdok, Brett M. Page, Jason A. Pile
  • Patent number: 10806530
    Abstract: A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Hsien-Hsin Liao, Julie L. Berry, Pushkar Hingwe, Brandon D. Itkowitz
  • Patent number: 10779899
    Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.
    Type: Grant
    Filed: June 22, 2018
    Date of Patent: September 22, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Brandon D. Itkowitz, Thomas R. Nixon, Roman Devengenzo
  • Publication number: 20200253674
    Abstract: A system and method of monitoring control points during reactive motion includes a computer-assisted device. The computer-assisted device includes the one or more articulated arms and a control unit coupled to the one or more articulated arms. The control unit is configured to perform operations comprising determining, before movement of a table separate from the computer-assisted device, a latched spatial configuration of a plurality of control points associated with the one or more articulated arms; determining one or more geometric attributes of the latched spatial configuration; determining an actual spatial configuration of the plurality of control points as the one or more articulated arms track the movement of the table; determining a difference between the one or more geometric attributes of the latched spatial configuration and corresponding one or more geometric attributes of the actual spatial configuration; and performing, based on the determined difference, a remedial action.
    Type: Application
    Filed: April 29, 2020
    Publication date: August 13, 2020
    Inventors: Paul G. GRIFFITHS, Brandon D. ITKOWITZ, Goran A. LYNCH