公开(公告)号：US12011244B2

公开(公告)日：2024-06-18

申请号：US18309110

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/10 ,  B25J3/00 ,  B25J9/16 ,  A61B17/00

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

Abstract: A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

公开(公告)号：US12011242B2

公开(公告)日：2024-06-18

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 ,  A61B17/00 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2090/064 ,  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：US20240196099A1

公开(公告)日：2024-06-13

申请号：US18584185

申请日：2024-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhen He ,  Jeffrey M. DiCarlo ,  Heath Feather

IPC: H04N23/73 ,  H04N23/62 ,  H04N23/741

CPC classification number: H04N23/73 ,  H04N23/62 ,  H04N23/741

Abstract: An illustrative apparatus may perform gaze-based auto-exposure management of images. For example, the apparatus may determine, for an image captured by an image capture system, auto-exposure-related characteristics of pixel units into which the image is divided. The apparatus may update, based on the auto-exposure-related characteristics determined for the pixel units and on eye tracking data for a viewer viewing the image, one or more auto-exposure parameters for use by the image capture system to capture an additional image within an image sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of images are also disclosed.

公开(公告)号：US20240189051A1

公开(公告)日：2024-06-13

申请号：US18286623

申请日：2022-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Goran Lynch ,  Sean Duffy ,  Will Valladao ,  Amin Zeiaee

IPC: A61B34/37 ,  A61B34/30 ,  A61B34/35

CPC classification number: A61B34/37 ,  A61B34/35 ,  A61B2034/302

Abstract: A computer-assisted system includes a manipulator arm including a joint, an actuator mechanism configured to drive the joint, and a controller including a computer processor. The controller is communicatively coupled to the manipulator arm and configured with a first control mode and a second control mode. In each of the first control mode and the second control mode, the controller commands the actuator mechanism to allow an external articulation to reconfigure the manipulator arm by backdriving the joint. The first control mode is distinguished from the second control mode at least by the controller being configured to, in the first control mode, command the actuator mechanism to provide a first speed-dependent resistance in response to the joint being backdriven at a first backdriven speed above a first speed threshold. The first speed-dependent resistance opposes the joint being backdriven.

公开(公告)号：US20240189027A1

公开(公告)日：2024-06-13

申请号：US18536539

申请日：2023-12-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Serena Wong ,  Samuel Raybin

IPC: A61B18/18

CPC classification number: A61B18/1815 ,  A61B2018/00577

Abstract: An energy delivery system and methods for an ablation procedure may include a generator configured to generate an electrical signal having an operating frequency for an ablation operation and an ablation probe coupled to the generator and configured to receive the electrical signal from the generator. The ablation probe may include a flexible body portion including an inner conductor, an outer conductor, and a dielectric between the inner and outer conductors. The ablation probe may further include a radiating portion electrically coupled to the inner conductor, where the radiating portion is configured to radiate energy received from the electrical signal. A length of the radiating portion may be between 0.35 and 0.65 times an operating wavelength, where the operating wavelength is dependent on the operating frequency of the electrical signal.

公开(公告)号：US20240188795A1

公开(公告)日：2024-06-13

申请号：US18286873

申请日：2022-04-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Changmeng Liu ,  Yu-tai Ray Chen ,  Adam Begley ,  Dominique D. Brichard ,  Andrew J. Hazelton

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/06 ,  H04N23/60 ,  H04N25/673 ,  H04N25/677

CPC classification number: A61B1/000095 ,  A61B1/00114 ,  A61B1/045 ,  A61B1/0655 ,  H04N23/64 ,  H04N25/673 ,  H04N25/677

Abstract: Systems and methods for reducing noise in a computer-assisted medical system are described herein. In certain illustrative examples, a system may direct an imaging device to capture one or more pseudo dark frame images of an environment of the imaging device. The system may determine a noise pattern within the set of one or more pseudo dark frame images associated with a coupling of the imaging device and an image processing system. They system may process, based on the noise pattern, additional images captured by the imaging device.

公开(公告)号：US12004827B2

公开(公告)日：2024-06-11

申请号：US17159052

申请日：2021-01-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  B25J1/02 ,  B25J3/04 ,  B25J9/16 ,  B25J13/02 ,  B25J19/00 ,  A61B34/35 ,  A61B90/50 ,  B25J9/06

CPC classification number: A61B34/30 ,  A61B34/76 ,  A61B34/77 ,  B25J1/02 ,  B25J3/04 ,  B25J9/1689 ,  B25J13/025 ,  B25J19/0004 ,  A61B34/35 ,  A61B34/37 ,  A61B2090/508 ,  B25J9/06

Abstract: A system and method of providing feedback during manual joint positioning includes a computer-assisted device having an articulated structure including a joint and a control unit coupled to the articulated structure. To provide feedback to a user during manual positioning of the joint by the user, the control unit is configured to provide first haptic feedback indicating that the joint is moving in a correct direction when the joint is moving toward a first target position, provide second haptic feedback indicating that the joint is not moving in the correct direction when the joint is moving away from the first target position, and provide third haptic feedback indicating that motion of the joint should stop when the joint is at the first target position.

公开(公告)号：US12004826B2

公开(公告)日：2024-06-11

申请号：US17043550

申请日：2019-03-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bram Gilbert Antoon Lambrecht ,  Arjang M. Hourtash ,  Saleh Tabandeh

IPC: A61B34/30 ,  A61B34/35 ,  B25J19/00 ,  A61B17/00 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  B25J19/0004 ,  A61B2017/00973 ,  A61B34/74

Abstract: A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first brake and a second brake. Braking provided by the dual brake assembly reduces relative motion between the first and second links.

公开(公告)号：US11998282B2

公开(公告)日：2024-06-04

申请号：US16470050

申请日：2017-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Jonathan M. Sorger ,  Oliver J. Wagner ,  Andrew C. Waterbury

IPC: A61B34/20 ,  A61B17/34 ,  A61B34/35 ,  A61B90/96 ,  A61B1/00 ,  A61B10/04 ,  A61B17/00 ,  A61B17/29 ,  A61B17/30 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B17/3403 ,  A61B34/35 ,  A61B90/96 ,  A61B1/00193 ,  A61B2010/045 ,  A61B2017/00477 ,  A61B2017/00876 ,  A61B17/29 ,  A61B2017/306 ,  A61B2017/3413 ,  A61B2018/00577 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/2063 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2034/302 ,  A61B2090/364 ,  A61B2090/3941 ,  A61B2090/3945

Abstract: A medical imaging system comprises a teleoperated assembly including a medical instrument, a first imaging instrument, a second imaging instrument, a tracking fixture, and a processor. The first imaging instrument generates a first image of a field of view of the first imaging instrument and the second imaging instrument generates a second image. The tracking fixture is engageable along at least a portion of the second imaging instrument. The tracking fixture includes one or more features. The medical instrument is attachable to an attachment feature of the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument. The processor is configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture and the first image.

公开(公告)号：US11998197B2

公开(公告)日：2024-06-04

申请号：US17916139

申请日：2021-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jack Goodman ,  Wesley Chung Joe ,  Tyler J. Morrissette

IPC: A61B17/072 ,  A61B17/12 ,  A61B17/128 ,  A61B34/30 ,  A61B17/00 ,  A61B17/068 ,  A61B17/10 ,  A61B90/10

CPC classification number: A61B17/072 ,  A61B17/07207 ,  A61B17/12 ,  A61B17/1285 ,  A61B34/30 ,  A61B2017/00017 ,  A61B17/068 ,  A61B2017/07214 ,  A61B17/105 ,  A61B17/128 ,  A61B90/10

Abstract: An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion of the shaft, and a transmission mechanism at the proximal end portion of the shaft. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the plurality of consecutive positions being associated with a unique indicium of a non-zero number of available uses left of the instrument. In response to the driven input device being driven, the indicator moves from a current position of the plurality of positions to a subsequent position of the plurality of positions. The instrument can also include a device configured to record occurrence of a change in an environmental condition to which the instrument is subjected.