This phrase was made mainstream after the Apollo 13 mission. After a small explosion on the spacecraft while traveling to the moon, the following transmission was:
Swigert: 'Okay, Houston, we've had a problem here.'
Duke: 'This is Houston. Say again please.'
Lovell: 'Houston, we've had a problem. We've had a main B bus undervolt.'
In the movie 'Apollo 13' that came out in '95, Jim Lovell, played by Tom Hanks, simply said "Houston, we have a problem" after the explosion.