公开(公告)号：US11965789B2

公开(公告)日：2024-04-23

申请号：US17885370

申请日：2022-08-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh

IPC: G01L5/00 ,  A61B90/00 ,  G01L1/22 ,  G01L5/1627

CPC classification number: G01L1/2262 ,  A61B90/06 ,  G01L1/2281 ,  G01L1/2287 ,  G01L5/1627 ,  A61B2090/064

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

公开(公告)号：US11460360B2

公开(公告)日：2022-10-04

申请号：US16763976

申请日：2018-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh

IPC: G01L1/00 ,  G01L1/22 ,  A61B90/00 ,  G01L5/1627

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

公开(公告)号：US20220250242A1

公开(公告)日：2022-08-11

申请号：US17438377

申请日：2020-03-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Lawton Verner ,  Gabriel Brisson

IPC: B25J9/16 ,  A61B34/37 ,  G05B19/4155

Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.

公开(公告)号：US10123846B2

公开(公告)日：2018-11-13

申请号：US15526696

申请日：2015-11-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

IPC: B25J9/18 ,  A61B34/37 ,  G06F3/048 ,  A61B34/00

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：US20170333139A1

公开(公告)日：2017-11-23

申请号：US15526698

申请日：2015-11-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

IPC: A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  A61B34/35 ,  A61B17/00

Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.

公开(公告)号：US12242662B2

公开(公告)日：2025-03-04

申请号：US17766592

申请日：2020-10-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Jason W. Hemphill ,  Brian Luptak ,  Ashwinram Suresh ,  Clifford N. Bargar ,  Hsien-Hsin Liao

IPC: G06F3/01 ,  A61B34/00 ,  A61B34/37 ,  G06F3/03 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/0362 ,  G06F3/038

Abstract: Implementations relate to hand presence sensing at a control input device. In some implementations, a control input device includes a base member, a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom, one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom, and a presence sensor coupled to the base member. The presence sensor has a sensing field, and at least a portion of the sensing field is located proximate to the handle.

公开(公告)号：US12239393B2

公开(公告)日：2025-03-04

申请号：US17322276

申请日：2021-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhou Ye ,  Harsukhdeep Ratia ,  Ashwinram Suresh ,  Craig Tsuji

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  B25J19/06 ,  A61B17/29

Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.

公开(公告)号：US20250010470A1

公开(公告)日：2025-01-09

申请号：US18886751

申请日：2024-09-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Lawton Verner ,  Gabriel Brisson

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  B25J15/04 ,  G05B19/4155

Abstract: A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.

公开(公告)号：US12050143B2

公开(公告)日：2024-07-30

申请号：US17761054

申请日：2020-09-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh

IPC: G01L1/22 ,  H01C10/23

CPC classification number: G01L1/2287 ,  G01L1/2262 ,  H01C10/23

Abstract: A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.

公开(公告)号：US11723734B2

公开(公告)日：2023-08-15

申请号：US17463178

申请日：2021-08-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

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

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.