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.

公开(公告)号：US11816811B2

公开(公告)日：2023-11-14

申请号：US17740121

申请日：2022-05-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao

IPC: G06T5/00 ,  G06T5/20 ,  H04N9/82 ,  G06T3/40 ,  H04N23/84 ,  H04N25/13 ,  H04N23/50

CPC classification number: G06T3/4015 ,  H04N23/843 ,  H04N25/134 ,  A61B2576/00 ,  H04N23/555

Abstract: An exemplary method includes a demosaic module receiving a frame of raw pixels having values in a first color space, generating vertical and horizontal color difference signals using information from the frame of raw pixels, generating reconstructed color pixel values for raw pixels that are missing captured color pixel values of a first color component of the first color space, transforming the captured and reconstructed color pixel values of the first color component to brightness pixel values in a second color space, and transforming the vertical and horizontal color difference signals into chrominance pixel values in the second color space.

公开(公告)号：US11815371B2

公开(公告)日：2023-11-14

申请号：US17877526

申请日：2022-07-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Brooks Childers

IPC: G01D5/353 ,  G02B6/02

CPC classification number: G01D5/35316 ,  G02B6/02085

Abstract: Described are optical fibers, e.g., for use in stress-sensing or shape-sensing applications, that use overlapping grating configurations with chirped gratings to facilitate strain delay registration. In accordance with various embodiments, a fiber core may, for instance, have two overlapping sets of chirped gratings that differ in the direction of the chirp between the first and second sets, or a set of chirped gratings overlapping with a single-frequency grating. Also described are strain sensing systems and associated computational methods employing optical fibers with overlapping gratings.

公开(公告)号：US11813093B2

公开(公告)日：2023-11-14

申请号：US17123232

申请日：2020-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B50/10 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00 ,  A61B34/30

CPC classification number: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/007 ,  G05D1/0011 ,  A61B34/30 ,  A61B2050/185

Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.

公开(公告)号：US20230355328A1

公开(公告)日：2023-11-09

申请号：US18223324

申请日：2023-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B34/30 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B17/00 ,  A61B2090/031

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

公开(公告)号：US20230355272A1

公开(公告)日：2023-11-09

申请号：US18196815

申请日：2023-05-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tyler J. Morrissette ,  Michael Ikeda

IPC: A61B1/04 ,  A61B17/02 ,  A61B34/35 ,  A61B34/37 ,  A61B17/34 ,  A61M39/06 ,  A61M13/00

CPC classification number: A61B17/3474 ,  A61B1/04 ,  A61B17/0218 ,  A61B17/3421 ,  A61B34/35 ,  A61B34/37 ,  A61M13/003 ,  A61M39/06 ,  A61B2017/3445 ,  A61M2039/0646

Abstract: A cannula and instrument guide assembly includes a cannula with a proximal portion and a tube. An instrument guide is removably inserted into the proximal portion of the cannula and extends through the cannula to a distal end of the tube. The proximal portion of the cannula has an insufflation port. The instrument guide provides at least one interior passageway to support a shaft of a surgical instrument that passes through the instrument guide. One or more channels on an outer surface of the instrument guide provide a passage for insufflation gas received from the insufflation port to the distal end of the tube. The one or more channels have a first cross-sectional area at a proximal end and a second, larger cross-sectional area at a distal end. The one or more channels may have the first cross-sectional area along a majority of the length of the channels.

公开(公告)号：US20230355261A1

公开(公告)日：2023-11-09

申请号：US18029532

申请日：2021-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Raymond YU

IPC: A61B17/29 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B17/29 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/2944

Abstract: An end effector drive mechanism has first and second pulleys and first and second jaws configured as a torque-amplifying tool assemblies. Each pulley jaw pair is configured as kinematic assembly having a compact footprint that can amplify outputs to increase the grip force applied by the jaws. The end effector drive mechanism is within a pulley envelope defined by the first and second pulleys. In certain configurations, the tool assemblies are configured to produce a grip force independent from a push-pull force that is exerted on (or by) the jaws. In certain configurations, the tool assemblies are configured to prevent undesirable reverse rotations and limit the range of travel of the jaws (or pulleys).

公开(公告)号：US11806015B2

公开(公告)日：2023-11-07

申请号：US17414819

申请日：2019-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew Wixey ,  Atal Patel ,  Babak D. Jasemian ,  Nicholas Ragosta

IPC: A61B17/072 ,  A61B34/30 ,  A61B90/00 ,  A61B90/90 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/30 ,  A61B90/08 ,  A61B90/90 ,  A61B2017/00017 ,  A61B2017/00039 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2090/0814

Abstract: Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.

公开(公告)号：US20230346487A1

公开(公告)日：2023-11-02

申请号：US18349025

申请日：2023-07-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/10 ,  A61B34/25 ,  A61B34/35 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2061 ,  A61B2034/301

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US20230338111A1

公开(公告)日：2023-10-26

申请号：US18308992

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

IPC: A61B90/50 ,  A61B90/11 ,  A61B34/20

CPC classification number: A61B90/50 ,  A61B90/11 ,  A61B34/20 ,  B25J9/1682

Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.