Patents by Inventor Lutz Blohm
Lutz Blohm 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: 11007023Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.Type: GrantFiled: August 2, 2018Date of Patent: May 18, 2021Assignees: INTUITIVE SURGICAL OPERATIONS, INC., SIEMENS HEALTHCARE GMBHInventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Patent number: 10849591Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.Type: GrantFiled: April 18, 2018Date of Patent: December 1, 2020Assignees: INTUITIVE SURGICAL OPERATIONS, INC., SIEMENS HEALTHCARE GMBHInventors: Mahdi Azizian, Jonathan M. Sorger, Holger Kunze, Lutz Blohm
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Patent number: 10674891Abstract: A method for assisting navigation of an endoscopic device using a controller with the aid of a digital image data record of an imaging examination modality is provided. The digital image data record describes an image of an object to be examined with the aid of the endoscopic device in a cavity element. A digital two-dimensional or multi-dimensional model of the object to be examined is determined based on the image data record. An operating action that predetermines a relative location of a sensor of the endoscopic device in relation to the object based on the model is received. The model is registered with the endoscopic device and/or a digital endoscopic data record supplied by the endoscopic device. An initial location of the sensor is compared with the predetermined location, and a navigation signal for navigating the endoscopic device is generated taking into account the predetermined relative location.Type: GrantFiled: February 20, 2015Date of Patent: June 9, 2020Assignee: Siemens AktiengesellschaftInventors: Lutz Blohm, Philip Mewes
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Patent number: 10376335Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.Type: GrantFiled: September 10, 2015Date of Patent: August 13, 2019Assignees: Siemens Healthcare GmbH, Intuitive Surgical Operatons, Inc.Inventors: Mahdi Azizian, Lutz Blohm, Holger Kunze, Christine Niebler, Jonathan Sorger
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Publication number: 20180338804Abstract: A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.Type: ApplicationFiled: August 2, 2018Publication date: November 29, 2018Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Patent number: 10064682Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.Type: GrantFiled: September 23, 2015Date of Patent: September 4, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Publication number: 20180235565Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.Type: ApplicationFiled: April 18, 2018Publication date: August 23, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Jonathan M. Sorger, Holger Kunze, Lutz Blohm
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Patent number: 9993222Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.Type: GrantFiled: February 4, 2015Date of Patent: June 12, 2018Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Jonathan M. Sorger, Holger Kunze, Lutz Blohm
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Publication number: 20180153636Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.Type: ApplicationFiled: September 10, 2015Publication date: June 7, 2018Inventors: Mahdi Azizian, Lutz Blohm, Holger Kunze, Christine Niebler, Jonathan Sorger
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Patent number: 9936972Abstract: A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted.Type: GrantFiled: October 30, 2015Date of Patent: April 10, 2018Assignee: Siemens AktiengesellschaftInventors: Lutz Blohm, Michael Martens, Philip Mewes
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Patent number: 9622831Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.Type: GrantFiled: May 20, 2015Date of Patent: April 18, 2017Assignees: Siemens Healthcare GmbH, Intuitive Surgical Operations, Inc.Inventors: Mahdi Azizian, Lutz Blohm, Holger Kunze, Christine Niebler, Jonathan Sorger
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Publication number: 20160345929Abstract: A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals for the medical device, one or more properties of the first VCOs; determine, based on the position and the properties, first geometries of the first VCOs; receive second geometries of one or more second VCOs associated with a second segment of a second device; determine relationships between the first VCOs and the second VCOs; and adjust, based on the relationships, a motion plan for the medical device.Type: ApplicationFiled: February 4, 2015Publication date: December 1, 2016Applicants: INTUITIVE SURGICAL OPERATIONS, INC., SIEMENS AKTIENGESELLSCHAFTInventors: Mahdi Azizian, Jonathan M. Sorger, Holger Kunze, Lutz Blohm
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Publication number: 20160338797Abstract: In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.Type: ApplicationFiled: May 20, 2015Publication date: November 24, 2016Applicants: INTUITIVE SURGICAL, INC., SIEMENS AKTIENGESELLSCHAFTInventors: Mahdi Azizian, Lutz Blohm, Holger Kunze, Christine Niebler, Jonathan Sorger
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Publication number: 20160128781Abstract: A method for automatically monitoring the penetration behavior of a trocar held by a robotic arm and monitoring system is provided. The method and system automatically monitors the penetration behavior of a trocar held by a robotic arm and/or an instrument guided through the trocar into a body cavity through an incision in the surface of the body of a patient during a surgical procedure. At least one measured value is recorded, by which a change in a force effect on the surface of the body of the patient may be determined, and automatic evaluation of the measured value with regard to a reference measured value is conducted. Comparison of the change in the measured value or the change in the force effect with a threshold value is made, and an indication in the event of the threshold value being exceeded is outputted.Type: ApplicationFiled: October 30, 2015Publication date: May 12, 2016Inventors: Lutz Blohm, Michael Martens, Philip Mewes
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Patent number: 9259282Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.Type: GrantFiled: December 10, 2013Date of Patent: February 16, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Publication number: 20160008078Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.Type: ApplicationFiled: September 23, 2015Publication date: January 14, 2016Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Publication number: 20150230689Abstract: A method for assisting navigation of an endoscopic device using a controller with the aid of a digital image data record of an imaging examination modality is provided. The digital image data record describes an image of an object to be examined with the aid of the endoscopic device in a cavity element. A digital two-dimensional or multi-dimensional model of the object to be examined is determined based on the image data record. An operating action that predetermines a relative location of a sensor of the endoscopic device in relation to the object based on the model is received. The model is registered with the endoscopic device and/or a digital endoscopic data record supplied by the endoscopic device. An initial location of the sensor is compared with the predetermined location, and a navigation signal for navigating the endoscopic device is generated taking into account the predetermined relative location.Type: ApplicationFiled: February 20, 2015Publication date: August 20, 2015Inventors: Lutz Blohm, Philip Mewes
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Publication number: 20140163736Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.Type: ApplicationFiled: December 10, 2013Publication date: June 12, 2014Inventors: Mahdi Azizian, Jonathan Sorger, Lutz Blohm, Christine Niebler, Holger Kunze
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Patent number: 7684542Abstract: When recording an image sequence, it is possible to deviate from passing through a perfect curve path. There is described how an alternative curve path can be determined. An envelope is determined, a point is determined, which is the center point of the region of interest and then the detector is moved such that it is at right angles in each instance to a line which emanates from the point and simultaneously touches the envelope tangentially. As a result, the region of interest is mapped as optimally as possible in the image sequence so that as good a 3D reconstruction as possible can be obtained.Type: GrantFiled: September 11, 2008Date of Patent: March 23, 2010Assignee: Siemens AktiengesellschaftInventors: Lutz Blohm, Thomas Brunner, Holger Kunze
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Publication number: 20090074135Abstract: When recording an image sequence, it is possible to deviate from passing through a perfect curve path. There is described how an alternative curve path can be determined. An envelope is determined, a point is determined, which is the center point of the region of interest and then the detector is moved such that it is at right angles in each instance to a line which emanates from the point and simultaneously touches the envelope tangentially. As a result, the region of interest is mapped as optimally as possible in the image sequence so that as good a 3D reconstruction as possible can be obtained.Type: ApplicationFiled: September 11, 2008Publication date: March 19, 2009Inventors: Lutz Blohm, Thomas Brunner, Holger Kunze