Patents by Inventor Catherine J. Mohr

Catherine J. Mohr 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).

  • 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: 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: 20200367720
    Abstract: A bleeding detection system may receive, from an image capture system during a surgical procedure, a first frame of data of a scene of a surgical site and identify, based on the first frame, a region of blood in the scene. The system may receive, from the image capture system subsequent to receiving the first frame, a second frame of data of the scene, the second frame including data representative of the region of blood. The system may estimate, based on the first frame and the second frame, motion of blood flow in the region of blood and generate data representative of a combined image comprising the second frame and a visual indicator indicating the motion of blood flow in the region of blood. The system may transmit, during the surgical procedure, the data representative of the combined image to a display unit for display of the combined image.
    Type: Application
    Filed: August 12, 2020
    Publication date: November 26, 2020
    Inventors: Wenyi Zhao, Catherine J. Mohr, Jonathan M. Sorger
  • Patent number: 10772482
    Abstract: A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: September 15, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Wenyi Zhao, Catherine J. Mohr, Jonathan M. Sorger
  • Publication number: 20200267128
    Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
    Type: Application
    Filed: February 11, 2020
    Publication date: August 20, 2020
    Inventors: Giuseppe Maria Prisco, Myriam J. Curet, Vincent Duindam, Catherine J. Mohr, Theodore W. Rogers, Katherine D. Stoy
  • Publication number: 20200254223
    Abstract: A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred.
    Type: Application
    Filed: April 30, 2020
    Publication date: August 13, 2020
    Inventors: Vincent Duindam, Samuel Kwok Wai Au, Caitlin Q. Donhowe, Carolyn M. Fenech, Catherine J. Mohr, Giuseppe Maria Prisco
  • Patent number: 10737394
    Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: August 11, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    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
  • Patent number: 10687907
    Abstract: A surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.
    Type: Grant
    Filed: November 22, 2016
    Date of Patent: June 23, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Giuseppe M. Prisco, Theodore W. Rogers, Vincent Duindam, Myriam J. Curet, Catherine J. Mohr, Katherine D. Stoy
  • Patent number: 10653866
    Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.
    Type: Grant
    Filed: September 6, 2016
    Date of Patent: May 19, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Vincent Duindam, Catherine J. Mohr, Carolyn M. Fenech, Giuseppe Maria Prisco, Samuel Kwok Wai Au, Caitlin Q. Donhowe
  • Patent number: 10600510
    Abstract: A method of searching video content for specific subject matter of interest augments traditional image data analysis methods with analysis of contemporaneously gathered non-image data. One application involves video recordings of medical procedures performed using a medical device. When a user desires to locate portions of video recordings showing a medical event of interest, one or more medical device system events likely to correspond to the occurrence of the medical event of interest are identified from one or more procedure event logs. Timestamps associated with these system events are used to identify candidate video clips from the procedure video recordings. Image data analysis is performed on the candidate video clips to determine whether each candidate video clip contains the medical event of interest.
    Type: Grant
    Filed: June 9, 2016
    Date of Patent: March 24, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Catherine J. Mohr, Brian E. Miller
  • Patent number: 10588703
    Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula.
    Type: Grant
    Filed: February 3, 2016
    Date of Patent: March 17, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Giuseppe Maria Prisco, Theodore W. Rogers, Vincent Duindam, Myriam J. Curet, Catherine J. Mohr, Katherine D. Stoy
  • Publication number: 20190374293
    Abstract: A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.
    Type: Application
    Filed: July 3, 2019
    Publication date: December 12, 2019
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Publication number: 20190365202
    Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body, a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
    Type: Application
    Filed: July 22, 2019
    Publication date: December 5, 2019
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Patent number: 10398520
    Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
    Type: Grant
    Filed: April 26, 2018
    Date of Patent: September 3, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Publication number: 20190213770
    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: Application
    Filed: March 12, 2019
    Publication date: July 11, 2019
    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
  • Patent number: 10282881
    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: April 5, 2018
    Date of Patent: May 7, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    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: 20190110847
    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
    Type: Application
    Filed: December 6, 2018
    Publication date: April 18, 2019
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr
  • Publication number: 20190098282
    Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.
    Type: Application
    Filed: November 28, 2018
    Publication date: March 28, 2019
    Inventors: Wenyi Zhao, Catherine J. Mohr, Simon P. DiMaio
  • Publication number: 20190047154
    Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
    Type: Application
    Filed: October 16, 2018
    Publication date: February 14, 2019
    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
  • Patent number: 10188472
    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: January 29, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr