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公开(公告)号：US12076103B2
公开(公告)日：2024-09-03
申请号：US16705552
申请日：2019-12-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Christopher R. Carlson , Federico Barbagli
CPC classification number: A61B34/77 , A61B17/00234 , A61B34/35 , A61B34/70 , A61B5/1076 , A61B2017/00017 , A61B2017/003 , A61B2034/105 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3614 , A61B2090/371 , A61B2090/3735 , A61B2090/3782
Abstract: A medical instrument system includes a control system and an operator input device coupled to an instrument including a sensor. The control system includes a processor and memory comprising instructions that cause the control system to: determine a distance between a distal tip of the instrument and an anatomical area based on sensor data; determine a motion scaling parameter based on the distance; receive an input instruction from the operator input device; map the input instruction to an output instruction including applying the motion scaling parameter to the input instruction to create the output instruction; instruct an actuator to move the instrument based on the output instruction; determine a second distance between the distal tip and the anatomical area based on the sensor data; determine a second motion scaling parameter based on the second distance; and stop movement of the instrument based on the second motion scaling parameter.
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公开(公告)号：US20240264683A1
公开(公告)日：2024-08-08
申请号：US18607140
申请日：2024-03-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Bailey , Federico Barbagli , Rueben D. Brewer , Christopher R. Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC: G06F3/0354 , A61B1/00 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/35 , A61B46/10 , A61B90/00 , A61M25/01
CPC classification number: G06F3/03547 , A61B1/00042 , A61B34/25 , A61B34/35 , A61B34/74 , A61B46/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3735 , A61M25/0113
Abstract: An input control console for a flexible elongate device may comprise an input control having an infinite length of travel in a one or more directions. The input control may provide a command suitable for controlling a degree of freedom motion of the flexible elongate device. The input control console may also comprise a ring located on a top surface of the console, the input control being mounted within the ring.
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公开(公告)号：US20240024038A1
公开(公告)日：2024-01-25
申请号：US18365710
申请日：2023-08-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
CPC classification number: A61B34/20 , A61B1/00147 , A61B1/01 , A61B1/2676 , G06T7/0012 , G06T7/30 , A61B1/009 , A61B34/10 , G06T7/38
Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US20230346487A1
公开(公告)日：2023-11-02
申请号：US18349025
申请日：2023-07-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Lauren L. Argo , Cristian Bianchi , Christopher R. Carlson , Energy Cruse, II , Scott S. Ichikawa , Aaron B. Tinling , Oliver J. Wagner
CPC classification number: A61B34/20 , A61B34/10 , A61B34/25 , A61B34/35 , A61B2034/105 , A61B2034/107 , A61B2034/2061 , A61B2034/301
Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.
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5.发明公开公开(公告)号：US20230200790A1
公开(公告)日：2023-06-29
申请号：US18171590
申请日：2023-02-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Federico Barbagli , Cristian Bianchi , Christopher R. Carlson , Timothy D. Soper
CPC classification number: A61B10/04 , A61B34/25 , A61B90/37 , A61B1/000094 , A61B2090/378 , A61B34/35
Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.
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Patent Agency Ranking
公开(公告)号：US20210228289A1
公开(公告)日：2021-07-29
申请号：US16479053
申请日：2018-02-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Matthew D. Rohr Daniel , David W. Bailey , Stephen J. Blumenkranz , Christopher R. Carlson , Matthew D. Inouye
Abstract: The systems and methods of the present disclosure are for use in a medical procedure, in which a connection mechanism is provided with a first end connected to a medical system interface at a first joint and a second end connected to an anatomic orifice device at a second joint. The anatomic orifice device is fixedly coupled to a patient. A flexible portion is provided between the first and second ends, the flexible portion being able to provide flexibility in at least one degree of freedom in response to movement of the anatomic orifice device.
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公开(公告)号：US20200008655A1
公开(公告)日：2020-01-09
申请号：US16509177
申请日：2019-07-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Randall L. Schlesinger , Stephen J. Blumenkranz , Christopher R. Carlson , Vincent Duindam , Anoop B. Kowshik , Timothy D. Soper
Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.
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公开(公告)号：US20180078318A1
公开(公告)日：2018-03-22
申请号：US15564509
申请日：2016-04-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
CPC classification number: A61B34/20 , A61B1/00147 , A61B1/01 , A61B1/2676 , A61B34/10 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/207 , A61B2034/301 , A61B2090/365 , A61B2090/3945 , A61B2090/397
Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US20240390030A1
公开(公告)日：2024-11-28
申请号：US18668924
申请日：2024-05-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Christopher R. Carlson , Federico Barbagli , Randall L. Schlesinger
Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.
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公开(公告)号：US12150718B2
公开(公告)日：2024-11-26
申请号：US18365710
申请日：2023-08-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B1/005 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/35 , G06T7/00 , G06T7/30 , A61B34/30 , A61B90/00 , G06T7/38
Abstract: A system includes a fixture having a known location in a surgical reference frame, a medical instrument, a position measuring device, and a computing system. The fixture includes a constraint structure having a known constraint structure pose in the surgical reference frame. The medical instrument includes a reference portion movably coupled to the fixture, an elongate flexible portion coupled to the reference portion, wherein the elongate flexible portion is sized to pass through the constraint structure, and a shape sensor. The position measuring device measures motion of the reference portion with respect to the fixture. The computing system is configured to receive shape information for the medical instrument, receive reference portion position information in the surgical reference frame, determine an estimated constraint structure pose from the reference portion position information and the shape information, determine a correction factor, and modify the shape information based upon the correction factor.
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