公开(公告)号：US20220392087A1

公开(公告)日：2022-12-08

申请号：US17774822

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: G06T7/33 ,  G06T7/11 ,  G06V10/25 ,  G06T7/00

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to record shape data from a shape sensor for an instrument during an image capture period and generate a sensor point cloud from the recorded shape data. The computer readable instructions, when executed by the processor, may also cause the system to receive image data from an imaging system during the image capture period, generate an image point cloud for the instrument from the image data, and register the sensor point cloud to the image point cloud.

公开(公告)号：US20220387115A1

公开(公告)日：2022-12-08

申请号：US17774797

申请日：2020-11-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： FEDERICO BARBAGLI ,  Troy K. Adebar ,  Sungwon Yoon ,  Hui Zhang ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/37 ,  A61B34/10 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06V10/74

Abstract: A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to record position data for an instrument during an image capture period and determine an instrument position change from the recorded position data. The computer readable instructions, when executed by the processor, may also cause the system to compare the instrument position change to a position change threshold and based on the comparison, determine whether to use image data captured by an imaging system during the image capture period in a registration procedure.

公开(公告)号：US11518048B2

公开(公告)日：2022-12-06

申请号：US16834447

申请日：2020-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel P. Saraliev ,  Gabriel F. Brisson ,  Matthew R. Williams

IPC: A61B34/30 ,  B25J17/02 ,  B25J9/10 ,  A61B34/35 ,  A61B34/37 ,  A61B50/13 ,  A61B90/00 ,  A61B34/00 ,  A61B17/29

Abstract: A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, a drive tendon connecting the first disc and the second disc. The first disc and the second disc may include respective opposing gear features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces. In response to tensioning the drive tendon, the first and second discs rotate relative to each other. The first and second discs may have a maximum rotational range of motion greater than about +/−45 degrees relative to each other.

公开(公告)号：US20220378537A1

公开(公告)日：2022-12-01

申请号：US17771113

申请日：2020-10-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tiber HITES ,  J. Scot HART

IPC: A61B34/00 ,  B25J17/02 ,  A61B17/29

Abstract: A joint structure includes a first link and a second link coupled to one another by a joint. The first link and the second link are articulatable relative to each other about the joint. An actuation element extends through a first guide channel in the first link and a second guide channel in the second link. The first guide channel terminates in an opening where the actuation element extends from the first link to extend across the joint to the second link. A first edge portion of the opening is at a first location along a longitudinal axis of the first guide channel, and a second edge portion of the opening is at a second location different from the first location along the longitudinal axis of the first guide channel. Systems and devices include related joint structures.

公开(公告)号：US11504156B2

公开(公告)日：2022-11-22

申请号：US16291434

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers ,  Craig R. Gerbi ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/34 ,  A61B17/02 ,  A61B1/313 ,  A61M39/02 ,  A61B1/00 ,  A61B17/00 ,  A61B17/04 ,  A61B17/29 ,  A61M25/00 ,  A61M25/01 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B34/37 ,  A61B90/90 ,  A61B90/92 ,  A61B34/20

Abstract: A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.

公开(公告)号：US20220354603A1

公开(公告)日：2022-11-10

申请号：US17861530

申请日：2022-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  The Johns Hopkins University

Inventor： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC: A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US20220354600A1

公开(公告)日：2022-11-10

申请号：US17835631

申请日：2022-06-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B34/30 ,  A61B1/018 ,  A61B1/04 ,  A61B34/37 ,  A61B1/00

Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.

公开(公告)号：US20220354474A1

公开(公告)日：2022-11-10

申请号：US17869045

申请日：2022-07-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep RATIA ,  Alain SADAKA ,  Zhou YE

IPC: A61B17/00 ,  A61B34/35

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

公开(公告)号：US20220346886A1

公开(公告)日：2022-11-03

申请号：US17851270

申请日：2022-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Timothy D. Soper ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Michael D. Paris ,  Oliver Wagner ,  Tao Zhao

IPC: A61B34/20 ,  A61B90/00 ,  A61B6/00 ,  A61B6/02 ,  A61B6/12 ,  A61B34/10

Abstract: A computer-assisted medical system comprises a fluoroscopic imager having a full scan range in a surgical coordinate space. The system further comprises one or more processors configured to perform a method. The method includes receiving a first fluoroscopic image data set of a patient anatomy. The first fluoroscopic image data set is obtained from the full scan range of the fluoroscopic imager. The method further includes receiving at least one additional fluoroscopic image data set of the patient anatomy from the fluoroscopic imager operating in a constrained range substantially smaller than the full scan range. The method further includes constructing a first planar tomographic image from the first and at least one additional fluoroscopic image data sets.

公开(公告)号：US20220346790A1

公开(公告)日：2022-11-03

申请号：US17764918

申请日：2020-10-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ashley Wellman

IPC: A61B17/072 ,  A61B34/30

Abstract: A surgical instrument, such as a tissue sealing instrument, is provided with an end effector having first and second movable jaws that define a gap therebetween in the closed position for clamping, sealing and/or stapling tissue. The jaws are movable relative to each other in the closed position to reduce a thickness of least one portion of this gap. This configuration allows the jaws to be moved closer together to reduce the overall size of the instrument when, for example, the instrument is introduced and retracted through an opening in the patient, or maneuvered within a body cavity. The surgical instrument may also have multiple settings for use with different staple cartridges, while still maintaining a fixed dimension between the two jaws for clamping, stapling and/or sealing tissue, providing a more adaptable surgical instrument that allows the surgeon to use different staple cartridges without having to change surgical instruments.