公开(公告)号：US20230157687A1

公开(公告)日：2023-05-25

申请号：US18158069

申请日：2023-01-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

IPC: A61B17/068 ,  A61B17/072

CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

Abstract: Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

公开(公告)号：US11657502B2

公开(公告)日：2023-05-23

申请号：US17122788

申请日：2020-12-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Junning Li ,  Pechin Chien Pau Lo ,  Ahmed Taha ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/12 ,  A61B34/20

CPC classification number: G06T7/0012 ,  A61B34/10 ,  A61B34/20 ,  G06T7/12 ,  A61B2034/2065 ,  G06T2207/30101

Abstract: A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

公开(公告)号：US20230149108A1

公开(公告)日：2023-05-18

申请号：US18154710

申请日：2023-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/33 ,  G06F30/23 ,  G06T3/00 ,  G06T17/20 ,  A61B1/00

CPC classification number: A61B34/37 ,  A61B34/10 ,  A61B34/20 ,  G06T7/344 ,  G06F30/23 ,  G06T3/0068 ,  G06T17/20 ,  A61B1/000094 ,  A61B1/00147 ,  A61B2034/105 ,  A61B2034/2065 ,  G06T2210/41

Abstract: Methods and systems of registering a model of one or more anatomic passageways of a patient to a patient space are provided herein. An exemplary method may include accessing a set of model points of the model of the passageways, the model points being associated with a model space, collecting measured points along a length of a catheter inserted into the passageways of the patient, the measured points determined by a shape of the catheter, and assigning points of the first set to a plurality of subsets. The exemplary method may further include registering each of the subsets with the model points to produce a plurality of registration candidates, comparing the candidates to identify an optimal subset associated with an optimal registration of the plurality of candidates that translates the set of model points and at least one set of the sets of measured points into a common space.

公开(公告)号：US11638622B2

公开(公告)日：2023-05-02

申请号：US16283311

申请日：2019-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tabish Mustufa ,  Nicola Diolaiti ,  David Q. Larkin

IPC: A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61B34/37 ,  A61B17/00 ,  A61B34/10

Abstract: A medical system may comprise a display and a processor configured to determine an optimal position for an image capturing instrument to view working ends of a plurality of medical instruments when the plurality of medical instruments and the image capturing instrument are each extending out of a distal end of an entry guide. The processor may also be configured to cause the optimal position to be displayed on the display along with an image captured by the image capturing instrument of the working ends of the plurality of medical instruments.

公开(公告)号：US11628013B2

公开(公告)日：2023-04-18

申请号：US16327219

申请日：2017-08-16

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 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00

Abstract: A method of monitoring a medical instrument during a medical procedure includes: receiving state information from a control system in communication with the medical instrument; detecting, by the control system, motion of at least a portion of the medical instrument; comparing the detected motion of the at least the portion of the medical instrument with a threshold motion value based on the state information received from the control system; determining, based on the detected motion exceeding the threshold motion value, significant movement of a patient has occurred; providing a system response based on determining significant movement of the patient has occurred; comparing the detected motion with a threshold control value, wherein the threshold control value is higher than the threshold motion value; and disregarding, when the detected motion is higher than the threshold control value, motion commands received from a master assembly.

公开(公告)号：US20230114914A1

公开(公告)日：2023-04-13

申请号：US18080577

申请日：2022-12-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

IPC: A61B34/37

Abstract: Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.

公开(公告)号：US20230114904A1

公开(公告)日：2023-04-13

申请号：US17987481

申请日：2022-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicholas H. Ragosta ,  Matthew A. Wixey

IPC: A61B34/00 ,  A61B1/00 ,  F16H55/17 ,  F16H59/02

Abstract: A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates without moving the coupling member. In the second system state the coupling member is engaged with the engagement feature of the first gear and rotation of the rotational input turns the coupling member, the first gear, and the second gear to move the movable element.

公开(公告)号：US11625107B2

公开(公告)日：2023-04-11

申请号：US16914165

申请日：2020-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Saleh Tabandeh ,  Caroline A. Edwards ,  Angel Jeremy Perez Rosillo

IPC: B25J9/16 ,  B25J13/02 ,  G06F3/0346 ,  A61B34/37

Abstract: Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect movement of the input control, control movement of the repositionable structure based on the movement of the input control, determine whether the movement of the input control is likely to include one or more components of a mode switching movement of the input control, and in response to determining that the movement of the input control is likely to include one or more components of the mode switching movement, temporarily disable mode switching in response to movement of the input control. The mode switching movement changes a mode of operation for the device. In some embodiments, the temporarily disabling prevents changing the mode of operation when the movement is a mode switching movement.

公开(公告)号：US11612406B2

公开(公告)日：2023-03-28

申请号：US16811859

申请日：2020-03-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Chinmay Deodhar ,  Asokan Thondiyath

IPC: A61B17/295 ,  A61B17/3201 ,  A61B17/00 ,  A61B17/29

Abstract: Disclosed is a four-jawed combinational scissor-grasper surgical tool for use in laparoscopy. Cutting and grasping functionalities are respectively enabled via movement of a pair of such specially contoured jaw members sliding against or splaying apart from the other pair. Also disclosed are means for achieving selectable interlocking of jaw members and mechanical linkage for their actuation by human user.

公开(公告)号：US20230084195A1

公开(公告)日：2023-03-16

申请号：US18058012

申请日：2022-11-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B1/00

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.