公开(公告)号：US20190151034A1

公开(公告)日：2019-05-23

申请号：US16234227

申请日：2018-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

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

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 video information, mechanical property data for the surgical instrument, and material property data for the surgical instrument to determine position and orientation information for the surgical instrument.

公开(公告)号：US20190151033A1

公开(公告)日：2019-05-23

申请号：US16139451

申请日：2018-09-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

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

Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

公开(公告)号：US10282881B2

公开(公告)日：2019-05-07

申请号：US15946408

申请日：2018-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20190047154A1

公开(公告)日：2019-02-14

申请号：US16161204

申请日：2018-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06F19/00 ,  A61B34/20

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US20180242824A1

公开(公告)日：2018-08-30

申请号：US15963825

申请日：2018-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/10 ,  A61B1/002 ,  A61B17/00 ,  A61B8/12 ,  A61B5/00 ,  A61B1/06 ,  A61B1/05 ,  A61B1/04 ,  A61B1/018 ,  A61B34/20 ,  A61B90/00 ,  A61B17/34 ,  A61B1/005

CPC classification number: A61B1/0051 ,  A61B1/00087 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

公开(公告)号：US09901408B2

公开(公告)日：2018-02-27

申请号：US15136658

申请日：2016-04-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin

IPC: A61B34/20 ,  A61B19/00 ,  B25J9/16 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B1/04 ,  A61B17/00

CPC classification number: A61B34/20 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/371 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123 ,  G05B2219/45169 ,  G06T7/0012

Abstract: A volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and another volume that is defined by the boundaries of an image capture component.

公开(公告)号：US09867671B2

公开(公告)日：2018-01-16

申请号：US15607676

申请日：2017-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, Jr. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  G09B23/28 ,  A61B1/00 ,  A61B17/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20170282372A1

公开(公告)日：2017-10-05

申请号：US15629533

申请日：2017-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37 ,  G05B19/42 ,  A61B34/30

CPC classification number: B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US20170245948A1

公开(公告)日：2017-08-31

申请号：US15597558

申请日：2017-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/37 ,  B25J9/16 ,  A61B34/30

CPC classification number: A61B34/20 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/371 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123 ,  G05B2219/45169 ,  G06T7/0012

Abstract: A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.

公开(公告)号：US20170079725A1

公开(公告)日：2017-03-23

申请号：US15371154

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B1/00 ,  A61B34/30 ,  A61B5/06 ,  A61B1/04

CPC classification number: A61B34/20 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B5/062 ,  A61B5/725 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.