公开(公告)号：US20210106289A1

公开(公告)日：2021-04-15

申请号：US17127888

申请日：2020-12-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Tao Zhao ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

公开(公告)号：US10912523B2

公开(公告)日：2021-02-09

申请号：US14665650

申请日：2015-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Caitlin Donhowe ,  Tao Zhao ,  Timothy Soper ,  Federico Barbagli

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045 ,  A61B17/00 ,  A61B1/267 ,  A61B1/05

Abstract: A method includes receiving a first set of image data representing passageways at a first cyclical motion state, receiving a second set of image data representing the passageways at a second cyclical motion state, receiving pose data for points describing a shape of an instrument, and comparing the shape of the instrument to the first and second sets of image data. The comparing includes assigning match scores to the sets of image data by comparing each to the shape of the instrument and determining a selected set of image data that matches the shape. The method further includes identifying a phase of a cyclical anatomical motion, generating a command signal indicating an intended movement of the instrument, adjusting the command signal to include an instruction for a cyclical instrument motion of the instrument based on the phase of the cyclical anatomical motion, and causing the intended movement of the instrument.

公开(公告)号：US20210016061A1

公开(公告)日：2021-01-21

申请号：US16927332

申请日：2020-07-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61M25/01 ,  A61B34/30

Abstract: A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.

公开(公告)号：US20200267128A1

公开(公告)日：2020-08-20

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: H04L29/06 ,  H04W4/80 ,  H04W12/06

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

公开(公告)号：US10653866B2

公开(公告)日：2020-05-19

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Catherine J. Mohr ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe

IPC: A61B1/00 ,  A61M25/06 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/00 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.

公开(公告)号：US20200093548A1

公开(公告)日：2020-03-26

申请号：US16678728

申请日：2019-11-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Vincent Duindam ,  Mark Froggatt ,  Eric Sanborn

IPC: A61B34/20 ,  G02B23/26 ,  G02B6/36 ,  A61B5/06 ,  A61B1/005 ,  A61B1/07

Abstract: A flexible tool includes an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion may be constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The adjustable bend may be enclosed with a housing that provides space within the housing for the adjustable bend to adjust. The optical fiber may be used to provide shape sensing of the flexible tool.

公开(公告)号：US10588703B2

公开(公告)日：2020-03-17

申请号：US15014559

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01B11/24 ,  A61B34/00 ,  A61B34/20 ,  G01D5/353

Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.

公开(公告)号：US10537397B2

公开(公告)日：2020-01-21

申请号：US16234227

申请日：2018-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  A61B34/00 ,  G01L5/22 ,  B25J18/06 ,  B25J13/02 ,  B25J9/16

Abstract: A robotic surgical system comprising a surgical instrument. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument also includes a sensor apparatus comprising an electromagnetic sensor. The robotic surgical system also includes a force transmission mechanism coupled to the proximal end of the shaft and a processor communicatively coupled to at least the sensor apparatus. The processor is configured to receive sensor data from the sensor apparatus and to use the sensor data with mechanical property data for the surgical instrument and material property data for the surgical instrument to determine external force information for the surgical instrument.

公开(公告)号：US20200008655A1

公开(公告)日：2020-01-09

申请号：US16509177

申请日：2019-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/018 ,  A61B1/005

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

公开(公告)号：US20190320878A1

公开(公告)日：2019-10-24

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B1/00 ,  A61B6/03 ,  A61B6/00 ,  G06T7/30 ,  G06T7/11

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.