公开(公告)号：US20230210617A1

公开(公告)日：2023-07-06

申请号：US18122896

申请日：2023-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37 ,  B25J18/00

CPC classification number: A61B34/30 ,  B25J9/1666 ,  B25J9/1638 ,  A61B34/37 ,  B25J18/007 ,  B25J9/1607

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

公开(公告)号：US20230210584A1

公开(公告)日：2023-07-06

申请号：US18148136

申请日：2022-12-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel T. CREWS ,  John Ryan STEGER

IPC: A61B18/14 ,  A61B34/35

CPC classification number: A61B18/1447 ,  A61B34/35 ,  A61B2018/00178

Abstract: An apparatus configured to deliver electrical energy to energize an end effector coupled via a clevis to a shaft of a medical instrument comprises an electrical transmission conduit configured to extend along the shaft from a proximal portion to a distal portion and configured to deliver electrical energy to energize the end effector, and a connector assembly configured to couple to the end effector. The connector assembly comprises an electrically conductive contact portion configured to electrically couple the electrical transmission conduit to the end effector, the electrically conductive contact portion defining a pivot surface about which the end effector is rotatable in a coupled state of the connector assembly to the end effector; and an electrically insulating member configured to electrically insulate the end effector from the clevis in a coupled state of the connector assembly to the end effector.

公开(公告)号：US20230200792A1

公开(公告)日：2023-06-29

申请号：US18179155

申请日：2023-03-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gabriel F. Brisson ,  Gregory W. Dachs, II ,  Niels Smaby ,  Melody Wu

IPC: A61B17/00 ,  A61B34/35

CPC classification number: A61B17/00 ,  A61B34/35 ,  A61B2034/302

Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.

公开(公告)号：US20230200790A1

公开(公告)日：2023-06-29

申请号：US18171590

申请日：2023-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Cristian Bianchi ,  Christopher R. Carlson ,  Timothy D. Soper

IPC: A61B10/04 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00

CPC classification number: A61B10/04 ,  A61B34/25 ,  A61B90/37 ,  A61B1/000094 ,  A61B2090/378 ,  A61B34/35

Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.

公开(公告)号：US11684758B2

公开(公告)日：2023-06-27

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/0052 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/065 ,  A61B10/02 ,  A61B10/04 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61B1/0057 ,  A61B5/062 ,  A61B5/6852 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

公开(公告)号：US11682319B2

公开(公告)日：2023-06-20

申请号：US16486314

申请日：2017-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： W. Andrew Grubbs ,  John Alexander

IPC: G09B23/30 ,  A61B34/30 ,  G09B23/28

CPC classification number: G09B23/303 ,  A61B34/30 ,  G09B23/285

Abstract: Artificial blood compositions for use in simulated surgery, and kits including the compositions, are disclosed. Tissues, organs, and organ blocks which include dissolvable clots are also disclosed. Further disclosed are methods for carrying out simulated surgical procedures using the compositions, tissues, organs, organ blocks, and kits described herein.

公开(公告)号：US11678813B2

公开(公告)日：2023-06-20

申请号：US17240154

申请日：2021-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/30 ,  G16Z99/00 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20

CPC classification number: A61B5/066 ,  A61B5/0044 ,  A61B5/062 ,  A61B5/065 ,  A61B34/30 ,  G16Z99/00 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2505/05 ,  A61B2562/043

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US11672618B2

公开(公告)日：2023-06-13

申请号：US17834651

申请日：2022-06-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

公开(公告)号：US20230172677A1

公开(公告)日：2023-06-08

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B2034/301

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

公开(公告)号：US20230157769A1

公开(公告)日：2023-05-25

申请号：US18159568

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Teresa G. Gadda ,  Troy K. Adebar ,  Cristian Bianchi ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B34/37 ,  A61B34/35 ,  A61B2034/301

Abstract: Methods of monitoring a medical instrument are provided. The methods may include receiving state information from a control system in communication with the medical instrument; detecting motion of at least a portion of the medical instrument and comparing the motion of the portion of the medical instrument with a threshold motion value that is based on the state information received from the control system. The methods may further include generating a communication message for presentation to an operator of the medical instrument based on the comparison of the motion with the threshold motion value. Corresponding systems are also provided.