公开(公告)号：US20220273489A1

公开(公告)日：2022-09-01

申请号：US17623453

申请日：2020-07-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert L. Barry ,  Erik M. Henne

IPC: A61F7/12 ,  A61F7/00 ,  A61B34/30 ,  A61N5/06 ,  A61B1/00 ,  A61B1/267 ,  A61B17/12

Abstract: A system may comprise a liquid source from which a liquid is delivered, and a catheter coupled to the liquid source. The catheter may include a distal portion from which the liquid is released into an anatomic lumen. The system may also include an occlusion device coupled to the catheter and configured to prevent flow of the liquid in the anatomic lumen proximally of the occlusion device. The system may also include a heating device near the distal portion of the catheter. The heating device may be configured to heat the liquid to a temperature of less than a vaporization temperature for the liquid.

公开(公告)号：US20220273384A1

公开(公告)日：2022-09-01

申请号：US17749799

申请日：2022-05-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. VERNER ,  Hsien-Hsin LIAO

IPC: A61B34/00 ,  A61B34/30

Abstract: A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.

公开(公告)号：US20220273377A1

公开(公告)日：2022-09-01

申请号：US17733446

申请日：2022-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： NICOLA DIOLAITI ,  Samuel Y. Chang ,  Vincent Duindam

IPC: A61B34/30 ,  A61B1/005 ,  A61B34/35 ,  A61B34/37 ,  G02B23/24 ,  A61B1/00 ,  A61B34/00 ,  A61M25/01

Abstract: A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.

公开(公告)号：US20220273280A1

公开(公告)日：2022-09-01

申请号：US17762327

申请日：2020-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel B. Schorr ,  Nicola Diolaiti ,  Wanxi Liu

IPC: A61B17/00 ,  A61B34/37 ,  B25J9/16

Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.

公开(公告)号：US20220265380A1

公开(公告)日：2022-08-25

申请号：US17686647

申请日：2022-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： DAVID W. BAILEY

IPC: A61B34/00 ,  G06F3/0362 ,  G06F3/0354 ,  A61B17/00 ,  A61B46/10 ,  A61B34/37

Abstract: Systems and methods for controlling an elongate device include a console. The console includes a first recess and a removable first input control for controlling motion of the medical device. The console also may include one or more first sensors located about the first recess that detect motion of the first input control and detect operator contact with the first input control. The console also may include an integrated display screen arranged to display status information for the medical device. In some embodiments, the first input control controls an insertion depth or steering of the medical device, and may be in the form of a scroll wheel forming a part of a removable control assembly

公开(公告)号：US20220265351A1

公开(公告)日：2022-08-25

申请号：US17628168

申请日：2020-08-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert G. Stricko, III ,  Jacob L. Divone ,  Glenn C. Stante

IPC: A61B34/00 ,  A61B90/00 ,  G16H20/40 ,  G16H40/63 ,  G16H30/40 ,  G06T7/521 ,  G06T7/55

Abstract: An exemplary operation management system is configured to obtain, from a depth sensor included in an imaging device, depth data representative of a depth map for an internal space of a patient, obtain auxiliary sensor data from an auxiliary sensor not included in the imaging device, and perform, based on the depth data and the auxiliary sensor data, an operation associated with a computer-assisted surgical system configured to perform a procedure within the internal space of the patient.

公开(公告)号：US11419687B2

公开(公告)日：2022-08-23

申请号：US16809471

申请日：2020-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.

公开(公告)号：US20220254104A1

公开(公告)日：2022-08-11

申请号：US17617869

申请日：2020-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Hui Zhang ,  Junning Li ,  Bai Wang ,  Tao Zhao

IPC: G06T17/20 ,  A61B34/10 ,  G06T7/00

Abstract: An exemplary processing system accesses a three-dimensional (3D) model of an anatomical structure of a patient and applies a detection process to the 3D model to detect a single-layer anatomical feature in the anatomical structure. The detection process includes generating, from the 3D model, a probability map of candidate points for the single-layer anatomical feature, and generating, based on the probability map of candidate points, a single-layer mesh representing the single-layer anatomical feature.

公开(公告)号：US20220241013A1

公开(公告)日：2022-08-04

申请号：US17671396

申请日：2022-02-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher B. Allenby

IPC: A61B34/00 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35

Abstract: A system is provided that includes a Q3D endoscope disposed to image a field of view and a processor that produces a Q3D model of a scene and identifies target instruments and structures. The processor is configured to display the scene from a virtual field of view of an instrument, to determine a no fly zone around targets, to determine a predicted path for said instruments or to provide 3D tracking of said instruments.

公开(公告)号：US20220227000A1

公开(公告)日：2022-07-21

申请号：US17589672

申请日：2022-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.