公开(公告)号：US20240216090A1

公开(公告)日：2024-07-04

申请号：US18609994

申请日：2024-03-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1689

Abstract: A system comprises a sensing means for sensing an arrangement of a manipulator assembly. The system further comprises a control means for: determining a motion limit of the manipulator assembly based on the sensed arrangement; and selecting a threshold limit from a plurality of pre-stored threshold limits based on which procedure type is to be performed with the manipulator assembly. The selected threshold limit is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure. The control means are further for: comparing the motion limit to the selected threshold limit to determine whether the selected threshold limit is outside a range of motion bounded by the motion limit; and providing a notification indicative of whether the selected threshold limit is outside the range of motion bounded by the motion limit.

公开(公告)号：US20240138937A1

公开(公告)日：2024-05-02

申请号：US18464666

申请日：2023-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Michael L. Hanuschik ,  Paul W. Mohr

IPC: A61B34/30 ,  A61B90/35

CPC classification number: A61B34/30 ,  A61B90/35 ,  A61B2017/00075 ,  A61B2560/02 ,  A61B2560/0266

Abstract: A medical system includes a mobile cart configured to support one or more medical instruments; an illumination source mounted on the mobile cart, the illumination source configured to direct light in a direction of a path of the mobile cart during movement relative to a ground surface; and a control system operably coupled to the illumination source and the mobile cart. The control system is configured to in response to the illuminating, storing a threshold height in a memory; and automatically control the movement of the cart based on the threshold height.

公开(公告)号：US20240108425A1

公开(公告)日：2024-04-04

申请号：US18483272

申请日：2023-10-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tabish Mustufa ,  Heath Feather ,  Daniel H. Gomez ,  Brian D. Hoffman ,  Paul W. Mohr ,  Huan L. Phan

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/00 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/254 ,  A61B2034/742

Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.

公开(公告)号：US11793581B2

公开(公告)日：2023-10-24

申请号：US15909287

申请日：2018-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Michael L. Hanuschik ,  Paul W. Mohr

IPC: A61B34/30 ,  A61B90/35 ,  A61B17/00 ,  A61B90/30 ,  A61B5/00

CPC classification number: A61B34/30 ,  A61B90/35 ,  A61B5/0017 ,  A61B90/30 ,  A61B2017/00075 ,  A61B2560/02 ,  A61B2560/0266

Abstract: A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base.

公开(公告)号：US11723742B2

公开(公告)日：2023-08-15

申请号：US17404289

申请日：2021-08-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/00 ,  G05D1/00

CPC classification number: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/007 ,  G05D1/0011 ,  A61B34/30 ,  A61B2050/185

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

公开(公告)号：US11723733B2

公开(公告)日：2023-08-15

申请号：US17321115

申请日：2021-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B2017/00017 ,  A61B2034/304 ,  A61B2050/105

Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US11638999B2

公开(公告)日：2023-05-02

申请号：US16932373

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US20220401167A1

公开(公告)日：2022-12-22

申请号：US17870528

申请日：2022-07-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

Abstract: A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.

公开(公告)号：US11432893B2

公开(公告)日：2022-09-06

申请号：US16214623

申请日：2018-12-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit.

公开(公告)号：US20220218426A1

公开(公告)日：2022-07-14

申请号：US17710435

申请日：2022-03-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00

Abstract: A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.