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.

公开(公告)号：US11638999B2

公开(公告)日：2023-05-02

申请号：US16932373

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US11583204B2

公开(公告)日：2023-02-21

申请号：US16837159

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Simon P. DiMaio ,  David Q. Larkin ,  Dorin Panescu ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B5/06 ,  A61B17/3209 ,  A61B10/02 ,  A61B34/20 ,  A61B17/00 ,  A61B34/10 ,  A61B10/04

Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

公开(公告)号：US20220354602A1

公开(公告)日：2022-11-10

申请号：US17752975

申请日：2022-05-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  G16H40/40

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US20220175475A1

公开(公告)日：2022-06-09

申请号：US17677866

申请日：2022-02-22

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

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 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 also includes 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 includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.

公开(公告)号：US20210346107A1

公开(公告)日：2021-11-11

申请号：US17379379

申请日：2021-07-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

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

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US11135023B2

公开(公告)日：2021-10-05

申请号：US15870116

申请日：2018-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B90/30 ,  A61B34/37 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B17/29 ,  A61B90/00 ,  A61B17/04

Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

公开(公告)号：US20200331147A1

公开(公告)日：2020-10-22

申请号：US16921995

申请日：2020-07-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

IPC: B25J9/16 ,  A61B17/00 ,  A61B1/00 ,  A61B90/00 ,  A61B34/20 ,  A61B1/005 ,  A61B34/30 ,  A61B1/04 ,  A61B1/313 ,  A61B34/10 ,  A61B34/00 ,  A61B34/37

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US10792107B2

公开(公告)日：2020-10-06

申请号：US15371158

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US10773388B2

公开(公告)日：2020-09-15

申请号：US15459175

申请日：2017-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David S. Mintz ,  Thomas R. Nixon

IPC: B25J9/16 ,  A61B17/00 ,  A61B1/00 ,  A61B90/00 ,  A61B34/20 ,  A61B1/005 ,  A61B34/30 ,  A61B1/04 ,  A61B1/313 ,  A61B34/10 ,  A61B34/00 ,  A61B34/37

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.