公开(公告)号：US20240189050A1

公开(公告)日：2024-06-13

申请号：US18582518

申请日：2024-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B1/00193 ,  A61B2017/00212 ,  A61B2017/00557 ,  A61B2017/00561 ,  A61B17/29 ,  A61B17/3423 ,  A61B17/3468 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/064 ,  A61B2217/005

Abstract: A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.

公开(公告)号：US20230172677A1

公开(公告)日：2023-06-08

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B2034/301

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

公开(公告)号：US20210228282A1

公开(公告)日：2021-07-29

申请号：US16967525

申请日：2019-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS INC.

Inventor： Simon Peter DIMAIO ,  Brandon ITKOWITZ ,  Govinda PAYYAVULA

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/00 ,  G16H30/40 ,  G16H20/40 ,  G16H40/63

Abstract: A computer-assisted medical system includes a user device wearable by an operator. The user device includes a display device configured to present imagery overlaid in an environment of a manipulator assembly, and a sensor configured to detect one or more landmarks in the environment. The medical system includes a controller configured to execute instructions to perform operations The operations include receiving, from the sensor, position or orientation information for the one or more landmarks in the environment, and directing a manual movement of a portion of the manipulator assembly by causing the display device to present the imagery overlaid in the environment based on the received position or orientation information.