公开(公告)号：US10008017B2

公开(公告)日：2018-06-26

申请号：US13768047

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06T11/60 ,  G06T11/40 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US09883914B2

公开(公告)日：2018-02-06

申请号：US14813944

申请日：2015-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00 ,  B25J19/02 ,  B25J9/16 ,  B25J18/06 ,  A61B34/30 ,  A61B34/00 ,  A61B90/30 ,  A61B34/37 ,  A61B17/00 ,  A61B17/29 ,  A61B17/04 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is 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：US20180028268A1

公开(公告)日：2018-02-01

申请号：US15726733

申请日：2017-10-06

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  B25J9/16

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：US20180014895A1

公开(公告)日：2018-01-18

申请号：US15719275

申请日：2017-09-28

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: B25J9/16

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

公开(公告)号：US20170305016A1

公开(公告)日：2017-10-26

申请号：US15638172

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: B25J9/16 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00 ,  A61B1/00 ,  A61B34/20

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：US20170210012A1

公开(公告)日：2017-07-27

申请号：US15459145

申请日：2017-03-15

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: B25J9/16 ,  A61B1/00 ,  A61B90/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B17/00

CPC classification number: B25J9/1692 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/0051 ,  A61B1/04 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00199 ,  A61B2017/00292 ,  A61B2017/00296 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/373 ,  B25J9/1694 ,  B25J9/1697 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123

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：US09526583B2

公开(公告)日：2016-12-27

申请号：US14684569

申请日：2015-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B17/29 ,  A61B17/04

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

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.

公开(公告)号：US09510734B2

公开(公告)日：2016-12-06

申请号：US14173681

申请日：2014-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  David Q. Larkin ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00 ,  A61B1/018 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B1/005 ,  A61B17/34

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract translation: 两个手术器械通过导管插入。 手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。 立体图像捕获部件位于导管之间的中间位置和导管的远端之间。 图像捕获部件的视场大致垂直于导管的纵轴。 手术器械和引导管被远程手术控制。

公开(公告)号：US09375288B2

公开(公告)日：2016-06-28

申请号：US14642163

申请日：2015-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Q. Larkin ,  Paul Millman

IPC: G06F19/00 ,  A61B19/00 ,  A61B18/12 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

公开(公告)号：US20160157943A1

公开(公告)日：2016-06-09

申请号：US15012582

申请日：2016-02-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Stephen Mintz ,  Tracey Ann Morley ,  Theodore Charles Walker ,  David Q. Larkin ,  Michael Lee Hanuschik

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00734 ,  A61B2034/252 ,  A61B2034/305 ,  A61B2090/0807 ,  B25J3/04 ,  B25J9/0084 ,  B25J9/1689

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

Abstract translation: 医疗和/或机器人装置，系统和方法可以提供与多臂远程外科或远程外科系统的每个操纵器组件相关联的指示器。 示例性指示器包括安装到操纵器的多色发光二极管（LED），移动相关联的手术器械，允许指示器显示各种各样的信号。 本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。