公开(公告)号：US11723735B2

公开(公告)日：2023-08-15

申请号：US16422465

申请日：2019-05-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. Devengenzo ,  David S. Mintz ,  Tracey A. Morley ,  Theodore C. Walker

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00115 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00734 ,  A61B2034/305 ,  A61B2090/0807 ,  A61B2560/04

Abstract: A surgical manipulator assembly comprises a manipulator movably supporting a tool holder and an indicator section operably coupled to the manipulator for indicating state or identity information. The indicator section includes a multiple-color light emitting diode (LED) and a first fastener for operably coupling a second fastener of a sterile drape used to substantially cover the surgical manipulator assembly.

公开(公告)号：US10881473B2

公开(公告)日：2021-01-05

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. Dimaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B17/00

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20190282313A1

公开(公告)日：2019-09-19

申请号：US16422465

申请日：2019-05-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. Devengenzo ,  David S. Mintz ,  Tracey A. Morley ,  Theodore C. Walker

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/30

Abstract: A surgical manipulator assembly comprises a manipulator movably supporting a tool holder and an indicator section operably coupled to the manipulator for indicating state or identity information. The indicator section includes a multiple-color light emitting diode (LED) and a first fastener for operably coupling a second fastener of a sterile drape used to substantially cover the surgical manipulator assembly.

公开(公告)号：US20190192240A1

公开(公告)日：2019-06-27

申请号：US16290239

申请日：2019-03-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morley ,  Theodore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/30 ,  B25J3/04 ,  A61B34/00 ,  B25J9/16 ,  B25J9/00 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00734 ,  A61B2034/252 ,  A61B2034/305 ,  A61B2090/0807 ,  B25J3/04 ,  B25J9/0084 ,  B25J9/1689

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

公开(公告)号：US20180168742A1

公开(公告)日：2018-06-21

申请号：US14794946

申请日：2015-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gary S. Guthart ,  David S. Mintz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Robert G. Younge

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B1/04 ,  A61B8/12 ,  A61B8/00 ,  A61B90/50 ,  A61B1/00 ,  A61B18/20 ,  A61B1/313 ,  A61B34/10

CPC classification number: A61B34/30 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B17/00234 ,  A61B18/20 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/506

Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

公开(公告)号：US09579164B2

公开(公告)日：2017-02-28

申请号：US14996073

申请日：2016-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: G05B15/00 ,  B25J9/16 ,  B25J3/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

公开(公告)号：US20150066053A1

公开(公告)日：2015-03-05

申请号：US14534526

申请日：2014-11-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

公开(公告)号：US12201388B2

公开(公告)日：2025-01-21

申请号：US17698848

申请日：2022-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morely ,  Theordore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  B25J3/04 ,  B25J9/00 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

公开(公告)号：US11672619B2

公开(公告)日：2023-06-13

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: B25J9/16 ,  A61B34/37 ,  A61B34/30 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  A61B2017/00725 ,  A61B2034/305 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US11517379B2

公开(公告)日：2022-12-06

申请号：US16575095

申请日：2019-09-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul A. Millman ,  David W. Bailey ,  Dean F. Hoornaert ,  David Q. Larkin ,  David S. Mintz

IPC: A61B34/30 ,  A61M13/00 ,  A61B34/00 ,  A61B34/37 ,  A61M1/00 ,  A61M39/24 ,  A61B90/50 ,  A61B17/00

Abstract: A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.