Patents by Inventor Jonathan M. Sorger
Jonathan M. Sorger 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: 11937899Abstract: An imaging system includes an illuminator for providing illumination on a region of interest, one or more first detectors for detecting reflections of the illumination, and a processing unit. The processing unit is configured to: receive a first image containing the region of interest; determine a first region of high specular reflection in the first image based on the reflections of the illumination on the region of interest; mask the first image by substituting a default color designating masking to alert a user to incomplete image information in the first region of high specular reflection to create a masked first image; and generate a composite image based on the masked first image and a fluorescence image of the region of interest.Type: GrantFiled: September 5, 2019Date of Patent: March 26, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Jonathan M. Sorger
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Publication number: 20240024051Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.Type: ApplicationFiled: July 12, 2023Publication date: January 25, 2024Inventors: Brent Tokarchuk, Mahdi Azizian, Joey Chau, Simon P. DiMaio, Brian D. Hoffman, Anthony M. Jarc, Henry C. Lin, Ian E. McDowall, William C. Nowlin, John D. Seaman, II, Jonathan M. Sorger
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Patent number: 11857645Abstract: Compositions and methods for visualizing tissue under illumination with fusion compounds of near-infrared radiation using near IR, closed chain, sulfo-cyanine dyes and prostate specific membrane antigen ligands are provided.Type: GrantFiled: December 4, 2020Date of Patent: January 2, 2024Assignee: Intuitive Surgical Operations, Inc.Inventor: Jonathan M. Sorger
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Publication number: 20230372039Abstract: A medical robotic system and method of operating such comprises taking intraoperative external image data of a patient anatomy, and using that image data to generate a modeling adjustment for a control system of the medical robotic system (e.g., updating anatomic model and/or refining instrument registration), and/or adjust a procedure control aspect (e.g., regulating substance or therapy delivery, improving targeting, and/or tracking performance).Type: ApplicationFiled: April 25, 2023Publication date: November 23, 2023Inventors: Dorin Panescu, Prashant Chopra, Jonathan M. Sorger, Tao Zhao
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Publication number: 20230338111Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.Type: ApplicationFiled: April 28, 2023Publication date: October 26, 2023Inventors: Mahdi Azizian, Andrew C. Waterbury, Jonathan M. Sorger
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Publication number: 20230307121Abstract: A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.Type: ApplicationFiled: May 30, 2023Publication date: September 28, 2023Inventors: Mahdi Azizian, Simon P. DiMaio, Jonathan M. Sorger
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Patent number: 11737841Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.Type: GrantFiled: June 22, 2021Date of Patent: August 29, 2023Assignee: Intuitive Surgical Operations, Inc.Inventors: Brent Tokarchuk, Mahdi Azizian, Joey Chau, Simon P. DiMaio, Brian D. Hoffman, Anthony M. Jarc, Henry C. Lin, Ian E. McDowall, William C. Nowlin, John D. Seaman, II, Jonathan M. Sorger
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Patent number: 11710561Abstract: A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.Type: GrantFiled: August 26, 2021Date of Patent: July 25, 2023Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Simon P. DiMaio, Jonathan M. Sorger
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Patent number: 11666413Abstract: A tool guide may be used with a computer-assisted medical device. The tool guide comprises an elongated body comprising a first end and a second end opposite the first end. The tool guide also comprises a joint attached to the first end of the elongated body and a mounting arm coupled to the elongated body via the joint. The tool guide also comprises a tool sleeve attached to the second end of the elongated body. The mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device, and the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.Type: GrantFiled: March 9, 2020Date of Patent: June 6, 2023Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Andrew C. Waterbury, Jonathan M. Sorger
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Patent number: 11666397Abstract: A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.Type: GrantFiled: October 20, 2020Date of Patent: June 6, 2023Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Dorin Panescu, Prashant Chopra, Jonathan M. Sorger, Tao Zhao
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Publication number: 20220304769Abstract: An illustrative surgical system may access a plurality of images captured outside a structure within a patient; detect a difference between spectral reflectances of scenes captured in the plurality of images; and identify, based on the detected difference between the spectral reflectances of the scenes captured in the plurality of images, pixels in at least one of the plurality of images that correspond to structure tissue of the structure.Type: ApplicationFiled: June 14, 2022Publication date: September 29, 2022Inventors: Jeffrey M. DiCarlo, Ian E. McDowall, Jonathan M. Sorger
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Patent number: 11452489Abstract: A radiation finder tool assists in locating tissue of interest within a patient. The radiation finder tool includes a body and a plurality of radiation detectors. The body has a distal end, a proximal end. A lengthwise axis of the radiation finder tool extends between the proximal end and the distal end of the body. The plurality of radiation detectors is oriented serially along the lengthwise axis, e.g., stacked one after the other along the lengthwise axis. Each radiation detector of the plurality of radiation detectors has a different field of view for radiation detected by that radiation detector. Each field of view of the plurality of radiation detectors has the lengthwise axis at its center.Type: GrantFiled: October 1, 2018Date of Patent: September 27, 2022Assignee: Intuitive Surgical Operations, Inc.Inventors: Jonathan M. Sorger, Ian E. McDowall, Theodore W. Rogers
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Publication number: 20220280042Abstract: An exemplary fluorescence imaging control system may direct, during a surgical procedure performed with a computer-assisted surgical system, an illumination source included in the computer-assisted surgical system to illuminate a scene associated with the surgical procedure with fluorescence excitation illumination configured to excite a fluorophore present at the scene and direct an imaging device included in the computer-assisted surgical system to detect, during the surgical procedure, fluorescence emitted by the fluorophore in response to excitation of the fluorophore by the fluorescence excitation illumination. The fluorescence imaging control system may determine, based on the detected fluorescence, a lifetime of the fluorescence and determine, based on the determined lifetime of the fluorescence, an identity of the fluorophore.Type: ApplicationFiled: August 18, 2020Publication date: September 8, 2022Inventors: Alexander L. Antaris, Jeffrey M. DiCarlo, Ian E. McDowall, Jonathan M. Sorger
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Patent number: 11389267Abstract: An exemplary surgical system is configured to 1) access a plurality of surgical site scenes captured entirely outside a structure within a patient, each surgical site scene in the plurality of surgical site scenes being captured from reflected light of a different waveband of a plurality of wavebands, each waveband of the plurality of wavebands being reflected by structure tissue of the structure and non-structure tissue outside the structure; 2) detect a difference between spectral reflectances of each of the surgical site scenes in the captured surgical site scenes, and 3) identify, based on the detected difference between the spectral reflectances of each of the surgical site scenes in the captured surgical site scenes, pixels in the captured surgical site scenes that correspond to the structure tissue and pixels in the captured surgical site scenes that correspond to the non-structure tissue outside the structure.Type: GrantFiled: January 29, 2020Date of Patent: July 19, 2022Assignee: Intuitive Surgical Operations, Inc.Inventors: Jeffrey M. DiCarlo, Ian E. McDowall, Jonathan M. Sorger
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Publication number: 20210391070Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.Type: ApplicationFiled: August 26, 2021Publication date: December 16, 2021Inventors: Mahdi Azizian, Simon P. DiMaio, Jonathan M. Sorger
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Publication number: 20210378770Abstract: A surgical robotic system may comprise a manipulator assembly including a manipulator arm having a distal portion. The surgical robotic system may also comprise a registration device mounted to a surgical table. The table mounted registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion of the manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device. The distal portion of the manipulator arm moves in a plurality of degrees of freedom. The plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the manipulator arm. The surgical robotic system may also comprise a control system that determines the spatial relationship between the manipulator assembly and the table mounted registration device.Type: ApplicationFiled: August 24, 2021Publication date: December 9, 2021Inventors: Mahdi Azizian, Jonathan M. Sorger
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Patent number: 11173005Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include attaching a registration device to a particular location of the surgical table and attaching a manipulator arm of the manipulator assembly to the registration device and determining a position and/or orientation of the surgical table relative the manipulator assembly using joint state sensor readings from the manipulator arm. In another aspect, methods for registration include tracking of one or more optical or radio markers with a sensor associate with the manipulator assembly to determine a spatial relationship between the surgical table and manipulator assembly.Type: GrantFiled: March 17, 2015Date of Patent: November 16, 2021Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Jonathan M. Sorger
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Publication number: 20210315650Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.Type: ApplicationFiled: June 22, 2021Publication date: October 14, 2021Inventors: Brent Tokarchuk, Mahdi Azizian, Joey Chau, Simon P. DiMaio, Brian D. Hoffman, Anthony M. Jarc, Henry C. Lin, Ian E. McDowall, William C. Nowlin, John D. Seaman, II, Jonathan M. Sorger
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Patent number: 11058501Abstract: A surgical method is provided for use with a teleoperated surgical system (surgical system), the method comprising: recording surgical instrument kinematic information indicative of surgical instrument motion produced within the surgical system during the occurrence of the surgical procedure; determining respective kinematic signatures associated with respective surgical instrument motions; producing an information structure in a computer readable storage device that associates respective kinematic signatures with respective control signals; comparing, during a performance of the surgical procedure surgical instrument kinematic information during the performance with at least one respective kinematic signature; launching, during a performance of the surgical procedure an associated respective control signal in response to a match between surgical instrument kinematics during the performance and a respective kinematic signature.Type: GrantFiled: June 9, 2016Date of Patent: July 13, 2021Assignee: Intuitive Surgical Operations, Inc.Inventors: Brent Tokarchuk, Mahdi Azizian, Joey Chau, Simon P. DiMaio, Brian D. Hoffman, Anthony M. Jarc, Henry C. Lin, Ian E. McDowall, William C. Nowlin, John D. Seaman, II, Jonathan M. Sorger
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Publication number: 20210154332Abstract: Compositions and methods for visualizing tissue under illumination with fusion compounds of near-infrared radiation using near IR, closed chain, sulfo-cyanine dyes and prostate specific membrane antigen ligands are provided.Type: ApplicationFiled: December 4, 2020Publication date: May 27, 2021Inventor: Jonathan M. Sorger