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.

公开(公告)号：US11781857B2

公开(公告)日：2023-10-10

申请号：US17700370

申请日：2022-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dawn K. Gifford ,  Federico Barbagli ,  Samuel Chang ,  Anoop B. Kowshik ,  Oliver Wagner ,  Michael Paris ,  Mark Froggatt

IPC: G01B11/16 ,  G01L1/24 ,  G02B23/26 ,  A61B1/00 ,  G02B6/02 ,  G02B6/34 ,  G02B6/00

CPC classification number: G01B11/16 ,  A61B1/00096 ,  A61B1/00165 ,  G01L1/24 ,  G02B6/00 ,  G02B6/02 ,  G02B6/022 ,  G02B6/02042 ,  G02B6/34 ,  G02B23/26

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

公开(公告)号：US11779396B2

公开(公告)日：2023-10-10

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: G06T7/11 ,  G06T7/30 ,  A61B6/03 ,  A61B6/00 ,  A61B34/10 ,  A61B1/00 ,  A61B1/005 ,  A61B10/02

CPC classification number: A61B34/10 ,  A61B1/009 ,  A61B1/000094 ,  A61B6/032 ,  A61B6/466 ,  G06T7/11 ,  G06T7/30 ,  A61B1/005 ,  A61B10/02

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：US20230317258A1

公开(公告)日：2023-10-05

申请号：US18037976

申请日：2021-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kristen Brown ,  Kiran Bhattacharyya ,  Anthony Michael Jarc ,  Sue Kulason ,  Linlin Zhou ,  Aneeq Zia

IPC: G16H40/20

CPC classification number: G16H40/20

Abstract: Various of the disclosed embodiments relate to computer systems and computer-implemented methods for measuring and monitoring surgical performance, For example, the system may receive raw data acquired from the surgical theater, generate and select features from the data amenable to analysis, and then train a machine learning classifier using the selected features to facilitate subsequent assessment of other surgeons' performances. Generation and selection of the features may itself involve application of a machine learning classifier in some embodiments. While some embodiments contemplate raw data acquired from surgical robotic systems, some embodiments facilitate assessments upon data acquired from non-robotic surgical theaters.