公开(公告)号：US11484376B2

公开(公告)日：2022-11-01

申请号：US17178873

申请日：2021-02-18

Applicant: Intuitive Surgical Operations, inc.

Inventor： Thomas Grosvenor Cooper ,  David Quentin Larkin ,  David Joseph Rosa

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B17/00 ,  A61B90/00

Abstract: A robotic surgical system comprises an instrument chassis assembly including an elongated member extending along a chassis axis, a proximal mounting section, a distal mounting section, and an instrument interface coupled to the proximal mounting section. The robotic surgical system further comprises an actuation system coupled to the proximal mounting section. The robotic surgical system further comprises a linkage system operably coupled between the actuation system and the distal mounting section. The linkage system includes an instrument guide. The robotic surgical system further comprises a surgical instrument including a proximal portion coupled with the instrument interface and a distal portion coupled with the instrument guide. The surgical instrument is pivotable via the instrument guide relative to the chassis axis.

公开(公告)号：US20220338901A1

公开(公告)日：2022-10-27

申请号：US17764902

申请日：2020-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey R. Roeder ,  Erasmo A. Lopez Calleros

IPC: A61B17/34

Abstract: Disclosed are medical devices for surgical procedures, especially procedures that involve the manipulation of surgical instrument end effectors close to the skin surface at an incision site. In accordance with some embodiments, an instrument access device is configured to couple to a wound retractor at a distal end of the device and to receive a multiple instrument entry guide in a port at the proximal end of the instrument access device, with an envelope between the distal and proximal ends defining a sealed cavity for maintaining insufflation pressure. Various embodiments provide means for rotating an assistant port in the envelope about a port that receives the instrument entry guide without twisting the envelope. Also disclosed are various envelope shapes. Also disclosed is an instrument entry guide that aligns surgical instrument shafts.

公开(公告)号：US11478308B2

公开(公告)日：2022-10-25

申请号：US16910818

申请日：2020-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20220330967A1

公开(公告)日：2022-10-20

申请号：US17856189

申请日：2022-07-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jason DEARDEN ,  Clayton GRAMES ,  Larry L. HOWELL ,  Brian D. JENSEN ,  Spencer P. MAGLEBY

IPC: A61B17/29 ,  B25J15/02

Abstract: The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to the second connection portion. The flexure is configured to deform elastically when the first joint member and the second joint member move from a first configuration to a second configuration. When in the first configuration, the central portion of the flexure is spaced apart from the contact portion. When in the second configuration, the central portion of the flexure contacting the contact portion.

公开(公告)号：US20220313379A1

公开(公告)日：2022-10-06

申请号：US17833667

申请日：2022-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. JARC

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  A61B5/11

Abstract: A mechanically ungrounded master control device comprises a rigid chassis for engagement with one or more fingers of a user's hand and at least one pivotable finger engagement device for controlling movement of a tool end effector. The control device also includes at least one sensor for detecting a position and orientation of the rigid chassis in a surgical environment and a switch coupled to the rigid chassis and manipulatable by a finger of the user's hand while another finger of the user's hand is engaged with the at least one pivotable finger engagement device.

公开(公告)号：US20220313349A1

公开(公告)日：2022-10-06

申请号：US17642205

申请日：2020-09-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Adrit LATH ,  Brian D. SOE

IPC: A61B18/14 ,  A61B34/30 ,  A61B34/00

Abstract: Systems and methods of dithering to maintain grasp force include a computer-assisted device. The computer-assisted device includes an instrument having a first jaw and a second jaw configured to grasp a material, one or more actuators configured to actuate the first and second jaws to apply force to the grasped material, and a controller coupled to the one or more actuators. The controller is configured to determine that actuation of the one or more actuators should be dithered and in response to the determination, dither one or more control signals to the one or more actuators so as to cause variations in a force or torque applied by the one or more actuators. In some embodiments, the one or more control signals correspond to a force setpoint, a torque setpoint, a current setpoint, or a position setpoint for the one or more actuators.

公开(公告)号：US11452569B2

公开(公告)日：2022-09-27

申请号：US16815328

申请日：2020-03-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Prashant Chopra

IPC: A61B5/00 ,  A61B34/20 ,  A61B5/06 ,  A61B5/08 ,  G16H50/50 ,  A61B34/37 ,  A61B1/267 ,  A61B34/30 ,  A61B34/35 ,  A61M25/01 ,  A61B17/00 ,  A61B34/10 ,  A61B18/14 ,  A61B90/00 ,  A61B34/00

Abstract: A medical system comprises a flexible device configured to be positioned at least partially within a patient anatomy. The patient anatomy includes a plurality of anatomical passageways. The medical system further comprises a memory device including computer executable instructions, the computer executable instructions for performing operations. The operations comprise determining a shape of the flexible device and determining a deformation force for a section of the flexible device. The operations further comprise registering a model of a candidate anatomical passageway of the plurality of anatomical passageways to a model of the flexible device based on the shape of the flexible device and the deformation force for the section of the flexible device. The operations further comprise generating a composite model of the patient anatomy based on the registering.

公开(公告)号：US20220296317A1

公开(公告)日：2022-09-22

申请号：US17832319

申请日：2022-06-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SIMON P. DIMAIO ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

公开(公告)号：US20220294995A1

公开(公告)日：2022-09-15

申请号：US17829000

申请日：2022-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N5/265 ,  H04N13/257 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  H04N9/04 ,  G06T3/40 ,  H04N5/225

Abstract: An example method includes receiving a single frame comprising a first set of pixel data that includes a fluorescence scene component and a second set of pixel data that includes a combination of a visible color component scene and the fluorescence scene component; and generating, based on the first set of pixel data that includes the fluorescence scene component and the second set of pixel data that includes the combination of the visible color component scene and the fluorescence scene component, a display scene.

公开(公告)号：US20220287555A1

公开(公告)日：2022-09-15

申请号：US17624004

申请日：2020-07-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Hannes Joseph ,  Philip Stengel ,  Ralf Kleiser ,  Björn Kuhwe ,  Sebastian Petsch

IPC: A61B1/07 ,  A61B1/00 ,  G02B6/06 ,  G02B6/40

Abstract: An optic light guide includes a plurality of light-guiding single fibres which are combined into a bundle and at least one sheath which encloses at least one section of an outer circumference of the bundle, the at least one sheath being made of ceramic. The optic light guide may be arranged in an area of a tip of an endoscope.