公开(公告)号：US20240024054A1

公开(公告)日：2024-01-25

申请号：US18481430

申请日：2023-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/37 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.

公开(公告)号：US20240024038A1

公开(公告)日：2024-01-25

申请号：US18365710

申请日：2023-08-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B34/20 ,  A61B1/00 ,  A61B1/01 ,  A61B1/267 ,  G06T7/00 ,  G06T7/30 ,  A61B1/005 ,  A61B34/10

CPC classification number: A61B34/20 ,  A61B1/00147 ,  A61B1/01 ,  A61B1/2676 ,  G06T7/0012 ,  G06T7/30 ,  A61B1/009 ,  A61B34/10 ,  G06T7/38

Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

公开(公告)号：US11871914B2

公开(公告)日：2024-01-16

申请号：US17111667

申请日：2020-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30

CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/715

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

公开(公告)号：US20240009441A1

公开(公告)日：2024-01-11

申请号：US18472579

申请日：2023-09-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Edward P. Donlon ,  Craig Tsuji

IPC: A61M39/22 ,  A61M1/00

CPC classification number: A61M39/223 ,  A61M1/85 ,  A61M2205/584 ,  A61M2039/226

Abstract: A valve system comprises a first valve plunger configured for insertion into a first valve plunger channel. The first valve plunger has a first latch member disposed at a distal end. A first sealing member and a first valve are opening disposed proximally from the first latch member. The valve system also comprises a second valve plunger configured for insertion into a second valve plunger channel. The second valve plunger includes a second valve opening that is longer than the first valve opening. The valve system also includes a valve body having the first and second valve plunger channels. The first and second valve plunger channels are configured to receive the first and second valve plungers, respectively.

公开(公告)号：US20240008762A1

公开(公告)日：2024-01-11

申请号：US18475052

申请日：2023-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Carol Reiley

IPC: A61B5/06 ,  A61M25/01 ,  A61B34/00 ,  A61B17/34 ,  A61B5/00

CPC classification number: A61B5/066 ,  A61M25/01 ,  A61B34/25 ,  A61M25/0105 ,  A61B17/34 ,  A61B5/743 ,  A61M2025/0166 ,  A61B2034/107

Abstract: A method comprises identifying a target location within a patient anatomy, receiving a position for a tip portion of an interventional instrument at a first location within the patient anatomy, and determining a three-dimensional distance between the first location and the target location. The method further comprises displaying on a display system an image that includes a symbol representing the target location and a symbol representing the tip portion of the instrument and displaying on the display system a rotational assist symbol indicating a rotational orientation of the tip portion. As the tip portion is actuated, the image is displayed so that the symbol representing the tip portion is a frame of reference for the image and the symbol representing the target location moves with respect to the symbol representing the tip portion to represent a new location of the tip portion relative to the target location.

公开(公告)号：US11864856B2

公开(公告)日：2024-01-09

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/10 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B1/000094 ,  A61B1/00147 ,  A61B34/10 ,  A61B34/20 ,  G06F30/23 ,  G06T3/0068 ,  G06T7/344 ,  G06T17/20 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

公开(公告)号：US11847936B2

公开(公告)日：2023-12-19

申请号：US17293005

申请日：2019-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Liheng Guo

IPC: G09B5/02 ,  G09B19/24 ,  G16H40/63 ,  G16H70/20 ,  G06F3/01 ,  G06F3/0346 ,  G06F3/0482 ,  H04N5/76 ,  A61B34/37

CPC classification number: G09B5/02 ,  G06F3/011 ,  G06F3/0346 ,  G06F3/0482 ,  G09B19/24 ,  G16H40/63 ,  G16H70/20 ,  H04N5/76 ,  A61B34/37

Abstract: A system includes a sensor to sense a change in a position of an input control component and a tool; a storage medium embodies a collection of respective motion pictures, which show tool movement imparted by the control component in response to manual input provided by users, indexed based upon a metric; a storage medium embodies a set of instructions that cause a processor to perform operations comprising: determining a user's performance; recording a motion picture of the tool movement imparted by the master control component by the individual user; indexing the recorded motion picture to the collection of motion pictures; generating a user interface providing an interactive visual index; and displaying a selected motion picture on the display screen in response to user input at the interactive visual index.

公开(公告)号：US11847932B2

公开(公告)日：2023-12-19

申请号：US16645615

申请日：2017-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Alexander ,  W. Andrew Grubbs

IPC: G09B23/30 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  G06T19/00 ,  G09B23/28

CPC classification number: G09B23/30 ,  A61B34/10 ,  A61B34/30 ,  A61B34/70 ,  G06T19/006 ,  G09B23/285 ,  G06T2210/41

Abstract: Modified animal tissues, organs, and organ systems for use in simulated surgical procedures are disclosed. The tissues, organs, and/or organ systems can be modified by enhancing their electrical conductivity, by including simulated contents mimicking what would normally be present in live animals, and by having fake blood perfusing through them. Portions of different tissues, organs, or organ systems, which can be from the same or different animals, can be adhered to provide hybrid/chimeric tissues, organs, or organ systems, and also used for simulated surgical procedures. These modifications can provide surgeons with a more realistic experience during a simulated surgical procedure.

公开(公告)号：US20230380665A1

公开(公告)日：2023-11-30

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: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

CPC classification number: A61B1/00087 ,  A61B34/37 ,  A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B34/71 ,  A61B34/72 ,  A61B1/00193 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/0086 ,  A61B8/12 ,  A61B34/70 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00234 ,  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.

公开(公告)号：US20230368530A1

公开(公告)日：2023-11-16

申请号：US18035089

申请日：2021-11-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ziheng Wang ,  Kiran Bhattacharyya ,  Anthony Jarc

IPC: G06V20/40 ,  G06V10/764 ,  G06V10/776 ,  G06V10/82 ,  G06V10/80

CPC classification number: G06V20/41 ,  G06V10/764 ,  G06V10/776 ,  G06V10/82 ,  G06V10/811 ,  G06V2201/03 ,  G16H40/20

Abstract: Various of the disclosed embodiments relate to systems and methods for recognizing types of surgical operations from data gathered in a surgical theater, such as recognizing a surgery procedure and corresponding specialty from endoscopic video data. Some embodiments select discrete frame sets from the data for individual consideration by a corpus of machine learning models, Some embodiments may include an uncertainty indication with each classification to guide downstream decision-making based upon the classification. For example, where the system is used as part of a data annotation pipeline, uncertain classifications may be flagged for downstream confirmation and review by a human reviewer.