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公开(公告)号：US20190269388A1
公开(公告)日：2019-09-05
申请号：US16414690
申请日：2019-05-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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公开(公告)号：US10264978B2
公开(公告)日：2019-04-23
申请号：US15783967
申请日：2017-10-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Peter M. Herzlinger , Giuseppe Maria Prisco , Vincent Duindam , David Q. Larkin
Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.
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公开(公告)号：US20180193007A1
公开(公告)日：2018-07-12
申请号：US15913602
申请日：2018-03-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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14.发明申请公开(公告)号：US20180185110A1
公开(公告)日：2018-07-05
申请号：US15866858
申请日：2018-01-10
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
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.
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公开(公告)号：US09949800B2
公开(公告)日：2018-04-24
申请号：US15045184
申请日：2016-02-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Giuseppe Maria Prisco , Samuel Au
IPC: A61B34/37 , A61B17/02 , A61M25/00 , A61B1/00 , A61M25/01 , A61B1/313 , A61B34/30 , A61B34/00 , A61B90/92 , A61B34/10 , A61B90/00 , A61B17/34 , A61B17/29 , A61B17/00 , A61B17/04 , A61B90/50 , A61B90/90 , A61B34/20
CPC classification number: A61B34/37 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/0218 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/10 , A61B34/30 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/03 , A61B90/37 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105 , Y10S901/00
Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.
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Patent Agency Ranking
公开(公告)号：US09931173B2
公开(公告)日：2018-04-03
申请号：US14983091
申请日：2015-12-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Giuseppe Maria Prisco , Craig R. Gerbi , Theodore W. Rogers , John Ryan Steger
IPC: A61B34/00 , A61B17/34 , A61B34/30 , A61B34/37 , A61B50/13 , A61B90/92 , A61B1/00 , A61B17/29 , A61B90/50 , A61B90/90 , A61B17/00
CPC classification number: A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
Abstract: A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another.
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公开(公告)号：US09636040B2
公开(公告)日：2017-05-02
申请号：US13751462
申请日：2013-01-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Giuseppe Maria Prisco , David Q. Larkin , Simon P. DiMaio , Dorin Panescu
CPC classification number: A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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公开(公告)号：US20170095234A1
公开(公告)日：2017-04-06
申请号：US15127811
申请日：2015-10-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Maria Prisco , Massimiliano Simi
Abstract: What is described is a minimally invasive system comprising an elongate instrument and a stylet slidably disposed within the lumen of the elongate instrument. The instrument includes a flexible proximal portion fixedly coupled to a rigid distal portion, and a lumen extending from a proximal end to a distal end through the flexible proximal portion and the rigid distal portion and defining a longitudinal axis of the instrument. The stylet includes a flexible body fixedly coupled to a steerable portion and a sensor element extending through the flexible body. The stylet is movable within the instrument between a retracted condition in which the steerable portion is retracted within the instrument and an extended configuration in which the steerable portion at least partially extends from the rigid distal portion of the instrument.
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公开(公告)号：US20170014194A1
公开(公告)日：2017-01-19
申请号：US15275955
申请日：2016-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
CPC classification number: A61B5/065 , A61B5/062 , A61B10/0233 , A61B17/3209 , A61B17/3403 , A61B17/3468 , A61B34/20 , A61B2010/045 , A61B2017/003 , A61B2017/00323 , A61B2017/00331 , A61B2017/00991 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。
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公开(公告)号：US09523821B2
公开(公告)日：2016-12-20
申请号：US14665681
申请日：2015-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Theodore W. Rogers , Giuseppe Maria Prisco
CPC classification number: G02B6/38 , A61B34/30 , A61B2034/2061 , B33Y80/00 , G01B11/165 , G01D5/35303 , G01D5/35316 , G01D5/35377 , G01D11/245 , G01M11/083 , G02B6/022 , G02B6/3616 , G02B6/3644 , G02B6/3887 , Y10T29/49826 , Y10T29/49838 , Y10T29/49947
Abstract: Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect, the fiber is positioned within a shape memory alloy tube that extends from the link.
Abstract translation: 局部应变在形状感测光纤中被有效地消除，其中纤维离开运动链中的连杆。 在一个方面，纤维被定位在链节的纤维固定部分内的通道中，并且通道的唇缘的表面是弯曲的。 唇缘的弯曲表面开始与通道的壁相切，并且具有小于在形状感测期间纤维将经历的最小弯曲半径的最大曲率半径。 在另一方面，纤维位于从连杆延伸的形状记忆合金管内。
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