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    STAPLER RELOAD DETECTION AND IDENTIFICATION
    12.
    发明申请
    STAPLER RELOAD DETECTION AND IDENTIFICATION 有权

    公开(公告)号：US20220273309A1

    公开(公告)日：2022-09-01

    申请号：US17745757

    申请日：2022-05-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： William BURBANK ,  Matthew A. WIXEY ,  Nicholas RAGOSTA ,  David W. WEIR ,  Emily COOPER ,  Melody WU

    IPC: A61B17/072 ,  A61B34/00

    Abstract: Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the stapler cartridge to deploy staples from the stapler cartridge. An actuation mechanism is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the staple cartridge or a portion of the end effector; determine a distance of movement of the pusher member from the first position to the second position; and determine, based on the distance of movement, an operational status of the instrument relating to the stapler cartridge.

    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES
    13.
    发明申请
    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES 审中-公开

    公开(公告)号：US20200337718A1

    公开(公告)日：2020-10-29

    申请号：US16930239

    申请日：2020-07-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: Techniques for reducing blade exposures include one or more processors and a drive system configured to be coupled to a cutting instrument. The cutting instrument includes an end effector located at a distal end of the cutting instrument, the end effector comprising opposable gripping jaws and a cutting blade, a shaft configured to be coupled to the drive system, an articulated wrist coupling the end effector to the shaft and one or more drive mechanisms in the shaft for coupling force or torque from the drive system to the end effector and the articulated wrist. The one or more processors are configured to measure a jaw angle between the gripping jaws, measure articulation of the articulated wrist, correct the jaw angle based on the articulation of the articulated wrist, determine a cutting length based on the corrected jaw angle, and perform a cutting operation according to the cutting length.

    SYSTEMS AND METHODS FOR GRASP ADJUSTMENT BASED ON GRASP PROPERTIES
    16.
    发明申请
    SYSTEMS AND METHODS FOR GRASP ADJUSTMENT BASED ON GRASP PROPERTIES 有权

    公开(公告)号：US20230067515A1

    公开(公告)日：2023-03-02

    申请号：US17982343

    申请日：2022-11-07

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Ashley Lynne WELLMAN ,  David W. WEIR ,  Matthew A. WIXEY

    IPC: A61B17/28 ,  A61B17/22 ,  A61B34/00 ,  A61B34/35

    Abstract: Techniques for grasp adjustment include a computer-assisted device comprising a repositionable structure configured to support an end effector and one or more processors. The one or more processors are configured to receive one or more images of the end effector; determine, based on the one or more images, at least one of a first length between a proximal end of jaws of the end effector and a proximal end of a grasping zone, a second length corresponding to a length of the grasping zone, a third length between a distal end of the grasping zone and the distal end of the at least one jaw; or an angle between the jaws of the end effector; and adjust a force or a torque magnitude limit used to limit actuation of the end effector based on at least one of the first length, the second length, the third length, or the angle.

    SYSTEMS AND METHODS FOR END EFFECTOR POSITION SET POINT CORRECTION
    17.
    发明申请
    SYSTEMS AND METHODS FOR END EFFECTOR POSITION SET POINT CORRECTION 有权

    公开(公告)号：US20210177412A1

    公开(公告)日：2021-06-17

    申请号：US16760895

    申请日：2018-11-02

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Andrew D. WILSON ,  Amir CHAGHAJERDI ,  David W. WEIR

    IPC: A61B17/072

    Abstract: End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.

    SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION
    19.
    发明申请
    SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION 有权

    公开(公告)号：US20210085419A1

    公开(公告)日：2021-03-25

    申请号：US17110944

    申请日：2020-12-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Melody WU ,  David W. WEIR

    IPC: A61B90/00 ,  A61B17/285 ,  A61B17/3205 ,  A61B34/20 ,  A61B34/00 ,  A61B18/08 ,  A61B34/10 ,  A61B34/32 ,  A61B34/35 ,  B25J9/16

    Abstract: A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION
    20.
    发明申请
    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION 有权

    公开(公告)号：US20210068906A1

    公开(公告)日：2021-03-11

    申请号：US17102210

    申请日：2020-11-23

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

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