公开(公告)号：US10973599B2

公开(公告)日：2021-04-13

申请号：US16088413

申请日：2017-03-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David J. Rosa ,  Gary S. Guthart ,  Simon P. DiMaio

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  B25J9/06 ,  B25J9/00 ,  B25J9/16 ,  A61B34/20 ,  A61B34/30

Abstract: A surgical module is supported by manipulators that are removably attached to the surgical module. The surgical module may enable operation of surgical tools by providing an integration between actuating mechanisms of the manipulators and actuating mechanisms of the surgical tools. Alternatively or additionally, the surgical module may enable operation of the surgical tools by providing physical access for deploying surgical tools that are operatively connected to the manipulators.

公开(公告)号：US20210038340A1

公开(公告)日：2021-02-11

申请号：US16757746

申请日：2018-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul W. Mohr ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B34/35 ,  A61B34/00 ,  G06F3/01 ,  G06T19/00

Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.

公开(公告)号：US20200289023A1

公开(公告)日：2020-09-17

申请号：US16837159

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Simon P. DiMaio ,  David Q. Larkin ,  Dorin Panescu ,  Giuseppe Maria Prisco

IPC: A61B5/06 ,  A61B17/3209 ,  A61B10/02 ,  A61B17/34 ,  A61B34/20

Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

公开(公告)号：US10772691B2

公开(公告)日：2020-09-15

申请号：US16259928

申请日：2019-01-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio

IPC: A61B34/30 ,  A61B90/11 ,  A61B18/14 ,  A61B17/00 ,  A61B17/34

Abstract: A minimally invasive surgical instrument includes a first mechanism including a periphery and an opening in the periphery, a second mechanism including a surface and a helical slot in the surface, a pin extending through the opening of the first mechanism and into the helical slot of the second mechanism, and a surgical device coupled to an end of the first mechanism. A first axial axis of rotation is defined for the first mechanism. A second axial axis of rotation is defined for the second mechanism. The second axial axis of rotation is coincident with the first axial axis of rotation. Rotation of the first mechanism relative to the second mechanism results in motion of the second mechanism along the second axial access of rotation relative to the first mechanism.

公开(公告)号：US20200155248A1

公开(公告)日：2020-05-21

申请号：US16773605

申请日：2020-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio

IPC: A61B34/30 ,  A61B90/11

Abstract: A device includes a first mechanism having a surface and a helical slot in the surface, a second mechanism having a periphery and an axial slot in the periphery, and an insert comprising a pin. The second mechanism is located within the first mechanism. The insert is located within the second mechanism. The pin extends from the insert through the axial slot of the second mechanism and into the helical slot of the first mechanism. The insert is configured to couple to an instrument. In some embodiments, the insert is configured to move the instrument in a degree of freedom in response to the second mechanism being held stationary and the first mechanism being rotated. In some embodiments, the degree of freedom is an insertion and retraction degree of freedom.

公开(公告)号：US20200085520A1

公开(公告)日：2020-03-19

申请号：US16689949

申请日：2019-11-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US10543050B2

公开(公告)日：2020-01-28

申请号：US15661940

申请日：2017-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Paul E. Lilagan ,  Tao Zhao

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/98 ,  B25J13/08 ,  B25J9/16 ,  G05B15/02 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

公开(公告)号：US20190209253A1

公开(公告)日：2019-07-11

申请号：US16353932

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/37 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B90/10 ,  B25J9/16 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.

公开(公告)号：US10137575B2

公开(公告)日：2018-11-27

申请号：US15629533

申请日：2017-06-21

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: A61B17/00 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  G06F19/00 ,  A61B34/20

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US20180221095A1

公开(公告)日：2018-08-09

申请号：US15943511

申请日：2018-04-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio

IPC: A61B34/30 ,  A61B90/11 ,  A61B17/00 ,  A61B18/14 ,  A61B17/34

CPC classification number: A61B34/30 ,  A61B18/1477 ,  A61B90/11 ,  A61B2017/00331 ,  A61B2017/00477 ,  A61B2017/3409

Abstract: A surgical instrument is provided that includes a first input mechanism having axial slots formed in a periphery and a second input mechanism having helical slots formed in a surface. The instrument also includes an insert having pins extending from a surface thereof, the insert coupled to the second input mechanism such that the one or more pins extend into the helical slots, and a surgical device coupled to an end. The surgical device is moved in a first degree of freedom in response to a mechanical driving force applied to both the first input mechanism and the second input mechanism, respectively, and the surgical device is moved in a second degree of freedom in response to a mechanical driving force applied to the second input mechanism while the first input mechanism is held stationary.