公开(公告)号：US11284952B2

公开(公告)日：2022-03-29

申请号：US16779564

申请日：2020-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC: A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

公开(公告)号：US20220007919A1

公开(公告)日：2022-01-13

申请号：US17484192

申请日：2021-09-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco

IPC: A61B1/005 ,  A61B1/00 ,  A61B6/12 ,  A61B1/04 ,  A61B5/06 ,  A61B34/20

Abstract: A medical system comprises an elongate instrument including a camera configured to capture at least one real-time image of anatomy within a patient anatomy. The medical system further comprises a processor configured to display, on one or more display screens: a three-dimensional patient computer model of the patient anatomy; a synthetic representation of the elongate instrument registered to the three-dimensional patient computer model; over the patient computer model, a representation of a view angle of the elongate instrument, the representation of the view angle being displayed so as to appear to project from a distal tip of the synthetic representation of the elongate instrument; and in a position based on the registration of the synthetic representation of the elongate instrument to the patient computer model, the at least one captured real-time image so as to appear to project from the distal tip of the synthetic representation of the elongate instrument.

公开(公告)号：US10568700B2

公开(公告)日：2020-02-25

申请号：US15193524

申请日：2016-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B5/05 ,  A61B34/20 ,  A61B34/10 ,  A61B5/06 ,  A61M25/01 ,  A61B34/30

Abstract: A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first section. The first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor. The system also includes a third electromagnetic sensor positioned on the imaging probe and a fiber shape sensor system that extends through the first section between the proximal and distal ends and along the first electromagnetic sensor and the second electromagnetic sensor.

公开(公告)号：US10478163B2

公开(公告)日：2019-11-19

申请号：US15134836

申请日：2016-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Theodore W. Rogers ,  John Ryan Steger

IPC: A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B34/20

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.

公开(公告)号：US10405934B2

公开(公告)日：2019-09-10

申请号：US15431752

申请日：2017-02-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David J. Rosa

IPC: A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B1/00

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

公开(公告)号：US10321900B2

公开(公告)日：2019-06-18

申请号：US15913602

申请日：2018-03-06

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US09931106B2

公开(公告)日：2018-04-03

申请号：US14068127

申请日：2013-10-31

Applicant: Intuitive Surgical Operations, Inc.

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

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

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 preload system may be coupled to maintain minimum tensions in the tendons.

公开(公告)号：US20170311844A1

公开(公告)日：2017-11-02

申请号：US15486246

申请日：2017-04-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco

IPC: A61B5/06 ,  A61B34/20 ,  G06T7/73 ,  A61B1/00 ,  A61B1/267 ,  A61B5/00 ,  A61B6/00 ,  A61B6/12 ,  A61B34/10 ,  A61B90/00 ,  A61B8/08

CPC classification number: A61B5/066 ,  A61B1/0005 ,  A61B1/2676 ,  A61B5/0059 ,  A61B5/064 ,  A61B6/12 ,  A61B6/5247 ,  A61B8/0841 ,  A61B8/5261 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/365 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30004

Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

公开(公告)号：US09801551B2

公开(公告)日：2017-10-31

申请号：US13944999

申请日：2013-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. Herzlinger ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B6/00 ,  A61B5/00 ,  A61B1/267 ,  A61B1/06 ,  A61B1/00 ,  A61B5/08

CPC classification number: A61B5/0084 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00096 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00181 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/0607 ,  A61B1/0676 ,  A61B1/0684 ,  A61B1/2676 ,  A61B5/08 ,  A61B5/6852 ,  A61B2576/00

Abstract: A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment.

公开(公告)号：US20170304014A1

公开(公告)日：2017-10-26

申请号：US15649148

申请日：2017-07-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/715

Abstract: Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.