公开(公告)号：US11903665B2

公开(公告)日：2024-02-20

申请号：US17710435

申请日：2022-03-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/37 ,  A61B90/37 ,  A61B2017/00119 ,  A61B2090/0811 ,  A61B2090/371

Abstract: A medical imaging system comprises a teleoperational assembly which includes a medical instrument including an instrument tip and an imaging instrument including an imaging instrument tip. The medical imaging system also comprises a processing unit including one or more processors. The processing unit may be configured to determine an instrument tip position for the instrument tip, determine an instrument tip position error relative to the imaging instrument, and determine at least one instrument tip bounding volume based on the determined instrument tip position, the determined instrument tip position error, and a ratio between an error radius of the instrument tip position error and a size of a display screen.

公开(公告)号：US11903664B2

公开(公告)日：2024-02-20

申请号：US17169188

申请日：2021-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  David William Bailey ,  Theodore W. Rogers ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B34/37 ,  A61B17/34 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/302 ,  A61B2034/305

Abstract: A computer-assisted medical system includes a manipulator arm and an instrument holder physically coupled to the manipulator arm. The instrument holder is configured to releasably couple to an instrument. The instrument holder includes an adjustable assembly and a cannula clamp physically coupled to the adjustable assembly. A physical adjustment of the adjustable assembly moves the cannula clamp relative to the manipulator arm. The cannula clamp is configured to releasably couple to a cannula configured to receive the instrument.

公开(公告)号：US20240050154A1

公开(公告)日：2024-02-15

申请号：US18260034

申请日：2021-12-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Troy K. Adebar ,  George Korir ,  Benjamin G. Cohn ,  Ruchi C. Bhatt

IPC: A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

CPC classification number: A61B34/10 ,  A61B34/30 ,  A61B34/25 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/301 ,  A61B2034/2074

Abstract: A medical system comprises a display system, an elongate device, an imaging probe configured to extend within the elongate device, and a control system communicatively coupled to the display system. The control system is configured to display a graphical user interface via the display system. The graphical user interface includes a virtual navigation view. The control system is further configured to receive imaging data from the imaging probe. The control system is further configured to determine a target location based on the imaging data. The control system is further configured to determine a position of a distal end of the elongate device. The control system is further configured to display a graphical marker in the virtual navigation view indicating a direction to steer the elongate device from the position of the distal end of the elongate device to the target location.

公开(公告)号：US20240050086A1

公开(公告)日：2024-02-15

申请号：US18490860

申请日：2023-10-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gerald I. Brecher ,  John C. Meade ,  John Aho ,  Roger Baske ,  James H. Bleck ,  John F. Carlson ,  Thomas Eagan ,  Michael J. Helander ,  James W. Murray ,  Ashley Perkins ,  Wayne A. Shakal ,  Jonathan Towle

IPC: A61B17/04 ,  A61B17/062 ,  A61B17/06

CPC classification number: A61B17/0469 ,  A61B17/0482 ,  A61B17/0491 ,  A61B17/0625 ,  A61B17/06066 ,  A61B17/2909

Abstract: Devices and methods for minimally invasive suturing are disclosed. One suturing device for minimally invasive suturing includes a proximal section a distal end, and an intermediate region therebetween. The device includes a suture head assembly having a suturing needle with a pointed end and a second end. The suturing needle is capable of rotating about an axis approximately perpendicular to a longitudinal axis of the device, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to deployment of guides that are adapted and configured to guide the needle around a circular path when advanced by a drive mechanism having a needle driver for engaging and rotating the suturing needle.

公开(公告)号：US11896441B2

公开(公告)日：2024-02-13

申请号：US17051515

申请日：2019-05-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rohitkumar Godhani ,  Brian D. Hoffman

IPC: A61B90/00 ,  A61B34/20 ,  A61B34/00 ,  A61B1/00 ,  A61B34/30

CPC classification number: A61B90/36 ,  A61B1/00193 ,  A61B34/20 ,  A61B34/25 ,  A61B34/70 ,  A61B2034/2046 ,  A61B2034/301 ,  A61B2090/364

Abstract: A measurement system accesses first and second images captured respectively from first and second vantage points by first and second cameras included within a stereoscopic endo scope located at a surgical area associated with a patient. The measurement system receives user input designating a user-selected two-dimensional (“2D”) endpoint corresponding to a feature within the surgical area as represented in the first image, and identifies, based on the user-selected 2D endpoint, a matched 2D endpoint corresponding to the feature as represented in the second image. Based on the user-selected and matched 2D endpoints, the measurement system defines a three-dimensional (“3D”) endpoint corresponding to the feature within the surgical area. The measurement system then determines a distance from the 3D endpoint to an additional 3D endpoint corresponding to an additional feature within the surgical area. Corresponding systems and methods are also described.

公开(公告)号：US11896331B2

公开(公告)日：2024-02-13

申请号：US18073329

申请日：2022-12-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Cedric Schwab

IPC: A61B34/35 ,  A61B34/00 ,  B25J13/02 ,  A61B90/60 ,  G06F3/01

CPC classification number: A61B34/35 ,  A61B34/74 ,  A61B34/76 ,  B25J13/025 ,  A61B34/25 ,  A61B90/60 ,  G06F3/016

Abstract: Implementations relate to detecting user touch on a controller handle. In some implementations, a non-controlling mode of a control system is activated, and in the non-controlling mode, one or more actuators are controlled to cause a vibration to be provided on a handle of a controller. The vibration is sensed with one or more sensors, and a difference in the vibration is determined to have occurred relative to a reference vibration using the one or more sensors, where the difference satisfies one or more predetermined thresholds. A controlling mode of the system is activated in response to determining the difference in the vibration, and the vibration is modified on the handle in response to detecting the change in the vibration.

公开(公告)号：US11896316B2

公开(公告)日：2024-02-13

申请号：US16536591

申请日：2019-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00 ,  G06T7/00 ,  G06T7/10 ,  G06T17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B34/25 ,  A61B90/37 ,  G06T7/0012 ,  G06T7/10 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/301 ,  A61B2090/374 ,  A61B2090/378 ,  A61B2090/3735 ,  A61B2090/3762 ,  G06T2207/30004

Abstract: A method includes receiving anatomic image data comprising a plurality of graphical units; generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure; receiving an indication of a first user selected graphical unit, the first user selected graphical unit being outside the initial segmented set of the plurality of graphical units; applying a cost function to determine a first sequence of graphical units from the first user selected graphical unit to the initial segmented set of graphical units; receiving an indication of a second user selected graphical unit, the second user selected graphical unit being selected from the first sequence of the plurality of graphical units; and applying the cost function to determine a second sequence of the plurality of graphical units from the second user selected graphical unit to the initial segmented set of the plurality of graphical units.

公开(公告)号：US11890013B2

公开(公告)日：2024-02-06

申请号：US17745757

申请日：2022-05-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William Burbank ,  Matthew A. Wixey ,  Nicholas Ragosta ,  David W. Weir ,  Emily Cooper ,  Melody Wu

IPC: A61B17/072 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  A61B34/30 ,  A61B34/35

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/0023 ,  A61B2017/00075 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2090/0814

Abstract: Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the stapler cartridge to deploy staples from the stapler cartridge. An actuation mechanism is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the staple cartridge or a portion of the end effector; determine a distance of movement of the pusher member from the first position to the second position; and determine, based on the distance of movement, an operational status of the instrument relating to the stapler cartridge.

公开(公告)号：US11889982B2

公开(公告)日：2024-02-06

申请号：US17944527

申请日：2022-09-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vahid Saadat ,  Ruey-Feng Peh ,  Edmund A. Tam

IPC: A61B1/00 ,  A61B5/00 ,  A61B17/34 ,  A61B1/005 ,  A61B1/015 ,  A61B1/018 ,  A61B1/04 ,  A61B5/02 ,  A61B90/00 ,  A61B34/20 ,  A61B17/12 ,  A61M5/00 ,  A61B5/287 ,  A61B17/22 ,  A61B17/04 ,  A61B17/00 ,  A61B18/02 ,  A61B17/221 ,  A61B8/00 ,  A61B8/12 ,  A61B18/00 ,  A61B34/30 ,  A61B90/30 ,  A61B34/10

CPC classification number: A61B1/00097 ,  A61B1/005 ,  A61B1/0008 ,  A61B1/00082 ,  A61B1/00085 ,  A61B1/00089 ,  A61B1/015 ,  A61B1/018 ,  A61B1/04 ,  A61B5/0084 ,  A61B5/02007 ,  A61B5/287 ,  A61B5/6882 ,  A61B17/12045 ,  A61B17/3415 ,  A61B17/3423 ,  A61B34/20 ,  A61B90/36 ,  A61M5/007 ,  A61B5/0031 ,  A61B8/12 ,  A61B8/4472 ,  A61B17/0487 ,  A61B17/221 ,  A61B18/02 ,  A61B34/30 ,  A61B2017/003 ,  A61B2017/00044 ,  A61B2017/00053 ,  A61B2017/00296 ,  A61B2017/00575 ,  A61B2017/0409 ,  A61B2017/0477 ,  A61B2017/12127 ,  A61B2017/22038 ,  A61B2017/22054 ,  A61B2017/22067 ,  A61B2017/22069 ,  A61B2017/22082 ,  A61B2017/3445 ,  A61B2017/3484 ,  A61B2017/3488 ,  A61B2018/00982 ,  A61B2018/0212 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/301 ,  A61B2090/306 ,  A61B2090/309 ,  A61B2090/3614 ,  A61B2090/373 ,  A61B2090/3958

Abstract: A system may comprise a first catheter having a first steerable segment and a second catheter disposed within the first catheter. The second catheter may have a second steerable segment. The system may also comprise an imaging element supported at a distal end of the second catheter, a coil reference sensor supported at a distal portion of the second catheter, and a processor in electrical communication with the coil reference sensor. The processor may be configured to determine a position of a distal portion of the first catheter with reference to the coil reference sensor.

公开(公告)号：US11883000B2

公开(公告)日：2024-01-30

申请号：US17538581

申请日：2021-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lucas S. Gordon ,  Randall L. Schlesinger

IPC: A61B1/00 ,  A61B1/12 ,  A61B1/015 ,  A61B1/005 ,  A61B1/018 ,  A61B1/05

CPC classification number: A61B1/00105 ,  A61B1/005 ,  A61B1/00091 ,  A61B1/00097 ,  A61B1/00137 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/126

Abstract: A medical instrument system includes an imaging probe and an elongated medical instrument. The imaging probe includes a first sealing feature comprising a first tapered profile formed on an external surface of the distal tip. The elongated medical instrument has a working channel extending to an opening in the distal portion. The distal portion includes a second sealing feature comprising a second tapered profile formed on an internal surface of the channel. A distal end surface of the distal tip extends through the opening and distally of a distal end surface of the elongated medical instrument when the first sealing feature is engaged with the second sealing feature. The first tapered profile and the second tapered profile form a seal that prevents fluid from passing through the opening when the imaging probe is within the working channel of the elongated medical instrument and the first and second sealing features contact.