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151.发明申请公开(公告)号：US20160140875A1
公开(公告)日：2016-05-19
申请号：US15006555
申请日：2016-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
IPC: G09B23/28
CPC classification number: G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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152.发明申请公开(公告)号：US20160051332A1
公开(公告)日：2016-02-25
申请号：US14932117
申请日：2015-11-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
CPC classification number: A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
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153.发明申请Robotic Surgery System Including Position Sensors Using Fiber Bragg Gratings 审中-公开包括使用光纤布拉格光栅的位置传感器的机器人手术系统公开(公告)号：US20150374453A1
公开(公告)日：2015-12-31
申请号：US14813944
申请日：2015-07-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , David C. Shafer
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.
Abstract translation: 一种装置包括机器人操纵器和安装到机器人操纵器的手术器械。 手术器械包括细长臂，其包括主动控制的可弯曲区域，其包括至少一个接合区域和端部执行器以及包括耦合到主动控制的可弯曲区域的远端的被动弯曲区域。 致动机构延伸通过可被动弯曲的区域并且联接到至少一个接合区域以控制主动控制的可弯曲区域。 通道延伸穿过细长臂，并且光纤定位在通道中。 光纤包括在被动弯曲区域或主动控制的可弯曲区域中的至少一个中的光纤弯曲传感器。
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公开(公告)号：US20150051733A1
公开(公告)日：2015-02-19
申请号：US14462507
申请日：2014-08-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
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 n 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 method for their use are also provided.
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公开(公告)号：US20140135792A1
公开(公告)日：2014-05-15
申请号：US14076833
申请日：2013-11-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Brian D. Hoffman , Paul W. Mohr
IPC: A61B19/00
CPC classification number: A61B34/20 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/04 , A61B17/00234 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/36 , A61B2017/00314 , A61B2017/00323 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/371 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123 , G05B2219/45169 , G06T7/0012
Abstract: A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
Abstract translation: 用于在机器人系统的用户界面上显示的工具的合成表示。 合成表示可以用于在工具上显示力，工具的实际位置，或者在视野外显示工具的位置。 还提供了用于远程外科手术系统的外科医生控制台中的观察者的三维指针。
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Patent Agency Ranking
156.发明申请公开(公告)号：US20140055489A1
公开(公告)日：2014-02-27
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
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
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.
Abstract translation: 操作人员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看工作现场的实时图像。 工具信息通过在工具上呈现工具信息而在工具上当前的注视区域中提供工具信息，以便不模糊由工具在工作时被处理的对象，也不需要使用者在观察工具时重新聚焦 信息和立体声查看器上的工具图像。
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公开(公告)号：US20130226197A1
公开(公告)日：2013-08-29
申请号：US13761439
申请日：2013-02-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
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公开(公告)号：US20250040996A1
公开(公告)日：2025-02-06
申请号：US18882391
申请日：2024-09-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Vincent Duindam
Abstract: A method of operating a shape sensing apparatus is provided. The method comprises receiving shape data from an elongated shape sensor having a first portion coupled to a reference fixture, a second portion coupled to an anatomic target, and a third portion coupled to the reference fixture. The first and third portions are maintained in a known kinematic relationship. The method further comprises determining a first shape of the elongated shape sensor between the first and second portions. The method further comprises determining a second shape of the elongated shape sensor between the third and second portions. The method further comprises determining a position of the second portion at the anatomic target from the first and second shapes.
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公开(公告)号：US12042120B2
公开(公告)日：2024-07-23
申请号：US17190936
申请日：2021-03-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Theodore W. Rogers , David Q. Larkin
IPC: A61B1/005 , A61B1/00 , A61B1/008 , A61B1/01 , A61B1/018 , A61B34/00 , A61B34/30 , A61B34/37 , A61B17/00 , A61B17/29 , A61B17/34 , A61B34/20
CPC classification number: A61B1/00042 , A61B1/00087 , A61B1/00128 , A61B1/00133 , A61B1/00135 , A61B1/005 , A61B1/0051 , A61B1/0052 , A61B1/0057 , A61B1/0058 , A61B1/008 , A61B1/009 , A61B1/01 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B2017/003 , A61B2017/00323 , A61B2017/00327 , A61B17/29 , A61B2017/3445 , A61B2017/3447 , A61B2017/347 , A61B2034/2061 , A61B2034/301 , A61B2034/306
Abstract: An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.
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公开(公告)号：US20240216085A1
公开(公告)日：2024-07-04
申请号：US18544287
申请日：2023-12-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Vincent Duindam
CPC classification number: A61B34/30 , A61B34/77 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , A61B2034/301 , Y10S901/15 , Y10S901/17 , Y10S901/46
Abstract: A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument further includes a sensor apparatus configured to generate sensor data about the flexible section and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to at least the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding stiffness of the surgical instrument to derive an internal actuation force applied by the force transmission mechanism.
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