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.

公开(公告)号：US20190239723A1

公开(公告)日：2019-08-08

申请号：US16331657

申请日：2017-09-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B34/35 ,  A61B34/00 ,  A61B1/01

CPC classification number: A61B1/00057 ,  A61B1/00006 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/005 ,  A61B1/01 ,  A61B5/065 ,  A61B5/6852 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762

Abstract: A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

公开(公告)号：US10373719B2

公开(公告)日：2019-08-06

申请号：US14845031

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G16H50/50 ,  A61B34/10 ,  A61B34/00

Abstract: A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input.

公开(公告)号：US20190192819A1

公开(公告)日：2019-06-27

申请号：US16283039

申请日：2019-02-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61M25/01 ,  A61B34/30

CPC classification number: A61M25/0133 ,  A61B18/24 ,  A61B34/30 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0113 ,  A61M25/0147 ,  A61M25/0158 ,  A61M2025/0166

Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

公开(公告)号：US10105188B2

公开(公告)日：2018-10-23

申请号：US15345029

申请日：2016-11-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

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

Abstract: An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.