公开(公告)号：US20230149103A1

公开(公告)日：2023-05-18

申请号：US18151185

申请日：2023-01-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  Amy Kerdok ,  Ian E. McDowall ,  John Ryan Steger

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

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B2090/371

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

公开(公告)号：US11589938B2

公开(公告)日：2023-02-28

申请号：US17246008

申请日：2021-04-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  Amy Kerdok ,  Ian E. McDowall ,  John Ryan Steger

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

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

公开(公告)号：US11490977B2

公开(公告)日：2022-11-08

申请号：US16742008

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

公开(公告)号：US20220241039A1

公开(公告)日：2022-08-04

申请号：US17726350

申请日：2022-04-21

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 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：US11337768B2

公开(公告)日：2022-05-24

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 ,  A61B17/00

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：US11266475B2

公开(公告)日：2022-03-08

申请号：US16484299

申请日：2017-12-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/50 ,  A61B90/57

Abstract: A computer-assisted system comprises a manipulator configured to support a tool, a lockable joint, and a controller. The manipulator extends distally from a base and comprises a distal portion. The lockable joint is coupled to the base and located proximally relative to the base. The controller is operably coupled to a powered joint. The powered joint is located distally relative to the base. The controller is configured to perform operations. The operations comprise: driving the powered joint to move the distal portion while the lockable joint is locked, and driving the powered joint to move the base while the lockable joint is unlocked and a position of the distal portion is externally maintained. A method includes processes for operating a computer-assisted system. A method includes determining a desired motion envelope for a tool supported by a manipulator, and positioning a base of the manipulator based on the desired motion envelope.

公开(公告)号：US20210401518A1

公开(公告)日：2021-12-30

申请号：US17474419

申请日：2021-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B34/00

Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.

公开(公告)号：US11207143B2

公开(公告)日：2021-12-28

申请号：US16324037

申请日：2017-09-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B34/00 ,  B25J9/12 ,  B25J9/16 ,  A61B17/00 ,  A61B34/37 ,  A61B17/29

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

公开(公告)号：US20210236220A1

公开(公告)日：2021-08-05

申请号：US17236868

申请日：2021-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

公开(公告)号：US11020192B2

公开(公告)日：2021-06-01

申请号：US16325978

申请日：2017-08-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  Amy Kerdok ,  Ian E. McDowall ,  John Ryan Steger

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

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.