公开(公告)号：US11317979B2

公开(公告)日：2022-05-03

申请号：US15262867

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

Abstract: A medical imaging system comprises a teleoperational assembly configured to control the movement of a medical instrument including an instrument tip and a processing unit including one or more processors. The processing unit is configured to determine an instrument tip position and determine a position error associated with the instrument tip position. The processing unit is also configured to determine at least one instrument tip bounding volume based upon the position error and determine if the instrument tip is within a field of view of an imaging instrument.

公开(公告)号：US20210346107A1

公开(公告)日：2021-11-11

申请号：US17379379

申请日：2021-07-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

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

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10973596B2

公开(公告)日：2021-04-13

申请号：US16563342

申请日：2019-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08 ,  A61B18/00 ,  A61B90/00

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.

公开(公告)号：US20210093402A1

公开(公告)日：2021-04-01

申请号：US17061785

申请日：2020-10-02

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 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37

Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.

公开(公告)号：US10668633B2

公开(公告)日：2020-06-02

申请号：US16577381

申请日：2019-09-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Robinson ,  Matthew R. Cavalier ,  Gregory W. Dachs ,  Michael Hanuschik ,  Jason Jiang ,  Paul W. Mohr ,  Bruce M. Schena ,  Mark W. Zimmer

IPC: B25J19/00 ,  A61B34/30 ,  A61B50/13 ,  A61B34/35 ,  B25J5/00 ,  A61B34/00 ,  B62B5/04 ,  A61B17/00 ,  A61B90/00

Abstract: A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.

公开(公告)号：US20190388167A1

公开(公告)日：2019-12-26

申请号：US16563342

申请日：2019-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm

公开(公告)号：US10512514B2

公开(公告)日：2019-12-24

申请号：US15790767

申请日：2017-10-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

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

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10464219B2

公开(公告)日：2019-11-05

申请号：US16039599

申请日：2018-07-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Robinson ,  Matthew R. Cavalier ,  Gregory W. Dachs ,  Michael Hanuschik ,  Jason Jiang ,  Paul W. Mohr ,  Bruce M. Schena ,  Mark W. Zimmer

IPC: B25J19/00 ,  A61B50/13 ,  A61B34/35 ,  A61B34/00 ,  B25J5/00 ,  A61B34/30 ,  B62B5/04 ,  A61B17/00 ,  A61B90/00

Abstract: A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.

公开(公告)号：US20190321117A1

公开(公告)日：2019-10-24

申请号：US16503403

申请日：2019-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B1/313 ,  A61B1/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

Abstract: Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.

公开(公告)号：US10433922B2

公开(公告)日：2019-10-08

申请号：US15558466

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10 ,  B25J9/16

Abstract: A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. The system further includes a processing unit configured to display an image of a field of view of the surgical environment, project the position of distal end portions of the medical instruments into the image's coordinate space, determine initial positions for badges associated with the distal end portions of each medical instrument, evaluate a display factor for each badge based on its initial position, and determine a final display position for each badge in the image's coordinate space based on the display factor.