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.

公开(公告)号：US11793587B2

公开(公告)日：2023-10-24

申请号：US18091941

申请日：2022-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

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

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

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20230329812A1

公开(公告)日：2023-10-19

申请号：US18338599

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Michael WALDO ,  Melody WU

IPC: A61B34/30 ,  A61B34/00 ,  A61B18/14

CPC classification number: A61B34/30 ,  A61B34/00 ,  A61B18/1445 ,  A61B18/1442 ,  A61B2017/003

Abstract: Techniques for operating an instrument include a computer-assisted device having one or more processors, a motor or other active actuator, and an articulated arm configured to support the instrument having a cutting blade. The one or more processors are configured to control, using the motor or other active actuator, the instrument according to a force or torque limit profile. The force or torque limit profile includes a first force or torque limit used when extending the cutting blade from a first position to a second position, a second force or torque limit used when retracting the cutting blade from the second position to a third position between the first position and the second position and further retracting the cutting blade to the first position, and a third force or torque limit used while the cutting blade is in the first position.

公开(公告)号：US20230329778A1

公开(公告)日：2023-10-19

申请号：US17788234

申请日：2020-12-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ann Yadlowsky ,  Mathew P. Nussbaum

IPC: A61B18/14 ,  A61M13/00

CPC classification number: A61B18/1482 ,  A61M13/00 ,  A61B2218/008 ,  A61B2018/00779

Abstract: Various examples of the disclosed subject matter include systems and methods to control a flowrate of a smoke evacuation system. In one example, a smoke-evacuation system includes an electrosurgical a unit (ESU) to provide electrical power to an electrosurgical tool within a surgical site. A monitoring device measures one or more electrical parameters from the electrosurgical tool and a controller estimates an amount of generated smoke within the surgical site based on the electrical parameters. The controller sets a flowrate of a suction device to remove gases within the surgical site. The flowrate of the removed gases produced is based on the estimated amount of generated smoke. The controller further controls a flowrate of an insufflation gas produced by an insufflation device where the flowrate of the insufflation gas is substantially equal to the flowrate of the gases produced by the suction device. Other systems and methods are disclosed.

公开(公告)号：US11786311B2

公开(公告)日：2023-10-17

申请号：US17830111

申请日：2022-06-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra ,  Vincent Duindam ,  Lei Xu ,  Tao Zhao

IPC: G06T19/20 ,  A61B34/10 ,  A61B34/30 ,  A61B34/20

CPC classification number: A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  G06T19/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  G06T2210/41 ,  G06T2219/2021

Abstract: A system comprises one or more processors. The system further comprises memory having computer readable instructions stored thereon that, when executed by the one or more processors, cause the system to: obtain a reference tree of nodes and linkages for a reference three dimensional volumetric representation of a branched anatomical formation in a reference state; based on the reference tree, generate a reference three dimensional geometric model; based on measurements from a sensor system, detect deformation of the branched anatomical formation; based on the detected deformation, obtain a deformed tree of nodes and linkages; and generate a three dimensional deformation field that represents the detected deformation of the branched anatomical formation.

公开(公告)号：US20230326193A1

公开(公告)日：2023-10-12

申请号：US18035095

申请日：2021-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Aneeq Zia ,  Kiran Bhattacharyya ,  Anthony Jarc

IPC: G06V10/80 ,  G06V10/764 ,  G06V10/82 ,  G16H40/63 ,  A61B34/37

CPC classification number: G06V10/811 ,  G06V10/764 ,  G06V10/82 ,  G16H40/63 ,  A61B34/37 ,  G06V2201/03

Abstract: Various of the disclosed embodiments are directed to computer-implemented systems and methods for recognizing surgical tasks from surgical data, In some embodiments an ensemble model configured to receive video data, kinematics data, and system event data from the surgical theater may be implemented. The ensemble model may implement modular streams for processing the data, facilitating predictions even when less than all the data types are available. In some embodiments, smoothing operations may help facilitate more accurate prediction results, Various of the embodiments may be employed in real-time during surgery, providing predictions at per-second intervals.

公开(公告)号：US20230320804A1

公开(公告)日：2023-10-12

申请号：US18334612

申请日：2023-06-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B34/00 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00

CPC classification number: A61B46/10 ,  A61B46/23 ,  A61B34/37 ,  A61B1/00142 ,  A61B34/70 ,  A61B90/361 ,  A61B34/35 ,  A61B46/40 ,  A61B90/08 ,  A61B90/98 ,  A61B17/00234 ,  A61B2017/00477 ,  Y10T29/49817 ,  Y10T403/59 ,  A61B34/30

Abstract: A surgical instrument that can include a proximal control mechanism that includes an opening through which a resilient latch arm is inserted into the proximal control mechanism and engages a locking surface of a fixed latch structure contained within the proximal control mechanism; means for receiving a release tool through an outer periphery of the proximal control mechanism and beyond the opening through which the resilient latch arm enters the proximal control mechanism, the means for receiving the release tool remaining uncovered when the resilient latch arm is attached to the fixed latch structure, and means for providing a fulcrum for the release tool on the outer periphery of the proximal control mechanism such that the release tool can release the surgical instrument by prying the resilient latch arm away from the locking surface of the fixed latch structure using the release tool as a lever.

公开(公告)号：US20230320799A1

公开(公告)日：2023-10-12

申请号：US18208233

申请日：2023-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

IPC: G06F3/048 ,  A61B34/37 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/74 ,  A61B34/76 ,  G06F3/048

Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

公开(公告)号：US20230320786A1

公开(公告)日：2023-10-12

申请号：US18333939

申请日：2023-06-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Julie L. BERRY ,  Melissa D. LIPPIATT ,  Daniel P. SARALIEV ,  Melody WU

IPC: A61B34/00 ,  A61B18/14 ,  A61B34/30 ,  A61B17/285 ,  A61B17/32

CPC classification number: A61B34/00 ,  A61B18/1445 ,  A61B34/30 ,  A61B17/285 ,  A61B17/320016 ,  A61B2018/1455 ,  A61B2090/067

Abstract: Techniques for reducing blade exposures include a computer-assisted device having one or more processors and a drive system comprising one or more drive units configured to be coupled to a cutting instrument. The one or more processors are configured to: measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument; measure, using one or more second sensors, a roll of a shaft of the cutting instrument; correct the jaw angle based on the roll of the shaft; determine a restriction on a cutting operation to be performed using the instrument based on the corrected jaw angle; and perform or prevent the cutting operation according to the restriction.