公开(公告)号：US11992287B2

公开(公告)日：2024-05-28

申请号：US17045679

申请日：2019-04-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Grant Duque ,  Lawrence Kerver ,  David I. Moreira Ridsdale ,  Harsukhdeep Singh Ratia ,  Joseph P. Orban, III ,  Zhou Ye

IPC: A61B18/12 ,  A61B18/14 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B34/71 ,  A61B18/1445 ,  A61B34/35 ,  A61B2017/00323 ,  A61B2017/2903 ,  A61B2017/2908 ,  A61B17/320016 ,  A61B2018/00595 ,  A61B2034/301 ,  A61B2034/715

Abstract: An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation.

公开(公告)号：US11992281B2

公开(公告)日：2024-05-28

申请号：US17610348

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B50/13 ,  B25J5/00 ,  B25J9/00 ,  G05D1/00

CPC classification number: A61B34/32 ,  A61B34/25 ,  A61B34/37 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007 ,  B25J9/0084 ,  G05D1/0027

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location. The system directs the manipulator cart to navigate, in a first bifurcated navigation control mode associated with a primary control interface that facilitates both operator control of steering and propulsion, along at least part of a first portion of the path from the initial to an intermediate location. The system further directs the manipulator cart to navigate, in a second bifurcated navigation control mode associated with a secondary control interface that facilitates operator control of propulsion but not steering, along at least part of a second portion of the path from the intermediate to the target location. In the first and second bifurcated navigation control modes, the system autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart.

公开(公告)号：US20240164853A1

公开(公告)日：2024-05-23

申请号：US18552137

申请日：2022-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bai Wang ,  Joy Janku ,  Sida Li ,  Shiyang Chen ,  Hui Zhang

IPC: A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  G06T19/00

CPC classification number: A61B34/25 ,  A61B34/35 ,  G06T19/00 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/303 ,  G06T2200/24 ,  G06T2210/41

Abstract: Devices, systems, methods, and computer program products for performing medical procedures are disclosed herein. In some embodiments, a system for planning a medical procedure is configured to receive a three-dimensional (3D) model of an anatomic region of a patient. The 3D model can include a set of linked structures and at least one isolated structure spaced apart from the linked structure. The system can output a graphical representation of the linked structures and the at least one isolated structure, and can receive operator input indicating a set of locations on the graphical representation. The set of locations can represent a connection between the at least one isolated structure and the linked structures. Based on the operator input, the system can generate a bridge structure connecting the at least one isolated structure to the linked structures.

公开(公告)号：US11986184B2

公开(公告)日：2024-05-21

申请号：US17973806

申请日：2022-10-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Atal C. Patel ,  Charles N. Godin ,  Matthew Wixey

IPC: A61B17/072 ,  A61B17/295 ,  A61B17/29

CPC classification number: A61B17/07207 ,  A61B17/295 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2017/2946

Abstract: Surgical clamping and cutting instruments are disclosed. In one aspect, a surgical instrument comprises an elongate shaft with an end effector having first and second jaws, a release member movably coupled to the end effector and a drive member configured to translate relative to the end effector. The instrument further includes a locking member movable from a first position permitting distal translation of the drive member, to a second position preventing distal translation of the drive member. The locking member moves into the second position after the drive member has been driven distally. This inhibits or prevents hazardous actuation of a knife or drive beam when, for example, there is a spent or previously fired cartridge in place.

公开(公告)号：US20240138835A1

公开(公告)日：2024-05-02

申请号：US18407962

申请日：2024-01-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank ,  Matthew A. Wixey ,  Nicholas Ragosta

IPC: A61B17/072

CPC classification number: A61B17/07207 ,  A61B2090/0801

Abstract: Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the cartridge body. The cartridge body includes a guide track engaged by the knife member and configured so that a cutting blade of the knife member protrudes from the cartridge body during a first portion of a distal movement of the staple pushing shuttle and the cutting blade is retracted into the cartridge body during a second portion of the distal movement of the staple pushing shuttle.

公开(公告)号：US11972531B2

公开(公告)日：2024-04-30

申请号：US17846552

申请日：2022-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: G06T19/00 ,  A61B90/00 ,  G06T17/20 ,  G06T19/20

CPC classification number: G06T19/006 ,  A61B90/37 ,  G06T17/20 ,  G06T19/20 ,  A61B2090/374 ,  A61B2090/3762 ,  G06T2200/24 ,  G06T2210/41 ,  G06T2210/62 ,  G06T2219/2012

Abstract: Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.

公开(公告)号：US20240127468A1

公开(公告)日：2024-04-18

申请号：US18483434

申请日：2023-10-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Erez Posner ,  Moshe Bouhnik ,  Daniel Dobkin ,  Netanel Frank ,  Liron Leist ,  Emmanuelle Muhlethaler ,  Roee Shibolet ,  Aniruddha Tamhane ,  Adi Zholkover

IPC: G06T7/60 ,  G06T7/73 ,  G16H50/50

CPC classification number: G06T7/60 ,  G06T7/74 ,  G16H50/50 ,  G06T2207/10068 ,  G06T2207/10132 ,  G06T2207/30032 ,  G06T2207/30061 ,  G06T2207/30092 ,  G06T2207/30096

Abstract: Various of the disclosed embodiments contemplate systems and methods for assessing structural complexity within an intra-surgical environment. For example, in some embodiments, surface characteristics from three-dimensional models of a patient interior, such as a colon, bronchial tube, esophagus, etc. may be used to infer the surface's level of complexity. Once determined, complexity may inform a number of downstream operations, such as assisting surgical operators to identify complex regions requiring more thorough review, the automated recognition of healthy or unhealthy tissue states, etc. While some embodiments apply to generally cylindrical internal structures, such as a colon or branching pulmonary pathways, etc., other embodiments may be used within other structures, such as inflated laparoscopic regions between organs, joints, etc. Various embodiments also consider graphical and feedback indicia for representing the complexity assessments.

公开(公告)号：US20240122587A1

公开(公告)日：2024-04-18

申请号：US18532598

申请日：2023-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

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

CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/715

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

公开(公告)号：US20240115331A1

公开(公告)日：2024-04-11

申请号：US18535819

申请日：2023-12-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/30

CPC classification number: A61B34/30 ,  A61B2034/715

Abstract: An instrument system includes actuators, an instrument, and a control system. The instrument includes joints and transmission systems that couple the joints with the actuators. A first joint is distal to a second joint, a first transmission system passes through the second joint to couple to the first joint, and a second transmission system couples to the second joint. The control system is programmed to determine a first tension to be applied by the first transmission system, determine a first estimate of an interaction response that results at the second joint from applying the first tension by the first transmission system, determine a second tension to be applied by the second transmission system based on a first set of parameters, the first set of parameters including the first estimate, and command the actuators such that the first and second transmission systems apply the first and second tensions, respectively.

公开(公告)号：US20240111370A1

公开(公告)日：2024-04-04

申请号：US18540660

申请日：2023-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Saleh TABANDEH ,  Caroline A. EDWARDS ,  Angel Jeremy PEREZ ROSILLO

IPC: G06F3/0346 ,  A61B34/37 ,  B25J9/16 ,  B25J13/02

CPC classification number: G06F3/0346 ,  A61B34/37 ,  B25J9/1682 ,  B25J9/1689 ,  B25J13/025

Abstract: Techniques for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for teleoperating the repositionable structure and in response to determining that the motion of the input control includes a component of motion used to change a mode of operation of the computer-assisted device, temporarily disable changes in the mode of operation of the computer-assisted device based on motion of the input control.