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111.发明申请公开(公告)号：US20130166070A1
公开(公告)日：2013-06-27
申请号：US13736720
申请日：2013-01-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Tao Zhao , David Q. Larkin
IPC: G01L5/22
CPC classification number: A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/064 , B25J9/1689 , G05B2219/40144
Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。
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公开(公告)号：US20130165869A1
公开(公告)日：2013-06-27
申请号：US13735335
申请日：2013-01-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , David Q. Larkin
CPC classification number: B25J15/0009 , A61B17/3462 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/064
Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.
Abstract translation: 提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。 在一个实施例中，公开了一种外科器械，机器人手术系统，插管，插管密封件和用于改进对机器人手术器械上的z轴力的感测的方法。
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公开(公告)号：US12251181B2
公开(公告)日：2025-03-18
申请号：US18331033
申请日：2023-06-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , David C. Shafer
IPC: B25J18/06 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/30 , B25J9/16 , B25J19/02 , A61B17/00 , A61B17/04 , A61B17/29 , A61B90/00
Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
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公开(公告)号：US12097002B2
公开(公告)日：2024-09-24
申请号：US17332928
申请日：2021-05-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Catherine J. Mohr
IPC: A61B34/37 , A61B1/00 , A61B34/00 , A61B34/30 , A61B90/00 , A61B1/005 , A61B1/018 , A61B17/00 , A61B17/34 , A61B34/20
CPC classification number: A61B34/37 , A61B1/00087 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B34/20 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.
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公开(公告)号：US12089809B2
公开(公告)日：2024-09-17
申请号：US18302698
申请日：2023-04-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
IPC: A61B34/30 , A61B1/00 , A61B1/002 , A61B1/005 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/00 , A61B8/12 , A61B17/00 , A61B34/00 , A61B34/37 , A61B90/10 , A61B17/34 , A61B34/20 , A61B90/00
CPC classification number: A61B1/00087 , A61B1/00149 , A61B1/00154 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0051 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/0034 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B90/361
Abstract: A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.
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Patent Agency Ranking
公开(公告)号：US11992936B2
公开(公告)日：2024-05-28
申请号：US16881568
申请日：2020-05-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Anthony K. McGrogan , Thomas G. Cooper , David Q. Larkin , Kent M. Anderson , Jeffrey D. Brown , Paul E. Lilagan , Michael Ikeda
CPC classification number: B25J15/0028 , A61B34/30 , A61B34/70 , A61B90/50 , A61B90/90 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , Y10S901/36 , Y10S901/38 , Y10S901/39
Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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117.发明公开公开(公告)号：US20240016556A1
公开(公告)日：2024-01-18
申请号：US18373695
申请日：2023-09-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John Ryan Steger , David Q. Larkin
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1697 , A61B90/361 , A61B34/37 , A61B2034/2065
Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
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公开(公告)号：US20230414301A1
公开(公告)日：2023-12-28
申请号：US18331033
申请日：2023-06-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , David C. Shafer
CPC classification number: A61B34/30 , A61B34/20 , A61B34/71 , A61B90/30 , A61B34/37 , A61B2017/00057 , B25J18/06 , B25J19/025 , Y10T29/49826 , Y10T74/20305 , B25J9/1635
Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
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119.发明授权公开(公告)号：US11723733B2
公开(公告)日：2023-08-15
申请号：US17321115
申请日：2021-05-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC classification number: A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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公开(公告)号：US20230148897A1
公开(公告)日：2023-05-18
申请号：US18154211
申请日：2023-01-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
IPC: A61B5/06 , A61B17/3209 , A61B10/02 , A61B17/34 , A61B34/20
CPC classification number: A61B5/065 , A61B17/3209 , A61B10/0233 , A61B17/3468 , A61B34/20 , A61B5/062 , A61B2017/00991
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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