公开(公告)号：US20230254469A1

公开(公告)日：2023-08-10

申请号：US18135455

申请日：2023-04-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David C. Shafer ,  Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Max J. Trejo

IPC: H04N13/296 ,  H04N13/257 ,  H04N13/239 ,  H04N23/13 ,  H04N23/73 ,  H04N23/84 ,  H04N25/13

CPC classification number: H04N13/296 ,  H04N13/257 ,  H04N13/239 ,  H04N23/13 ,  H04N23/73 ,  H04N23/84 ,  H04N25/135

Abstract: An image capture device may include an image sensor comprising a first pixel cell and a second pixel cell adjacent to the first pixel cell, a plurality of individual alternative light filters configured to filter non-visible light, one individual alternative light filter of the plurality of individual alternative light filters covering both a first set of pixels of the first pixel cell and a second set of pixels of the second pixel cell, and a plurality of individual visible color filters covering pixels of the first and second pixel cells, the pixels of the first and second pixel cells covered by the individual visible light color filters being different from the first and second sets of pixels covered by the individual alternative light filters.

公开(公告)号：US11382496B2

公开(公告)日：2022-07-12

申请号：US16051592

申请日：2018-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David C. Shafer ,  Dennis C. Leiner

IPC: A61B1/00 ,  G02B23/24 ,  A61B1/04 ,  A61B1/05 ,  G02B5/04

Abstract: A stereoscopic endoscope includes at least one illumination source disposed at a distal end portion in a position to project light to illuminate an object. The endoscope also includes an image capture assembly mounted at the distal end portion. The assembly includes first and second lens trains extending proximally from the distal end portion. The assembly includes an image sensor having a surface with a right side image area and a left side image area. The sensor surface lies in a plane substantially parallel to a plane in which the first and second lens trains lie. The assembly includes at least one optical element disposed to intercept light passing through the first and second lens trains. The optical element is configured to direct light exiting the first lens train to the right side image area and to direct light exiting the second lens trains to the left side image area.

公开(公告)号：US11135023B2

公开(公告)日：2021-10-05

申请号：US15870116

申请日：2018-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/00 ,  A61B90/30 ,  A61B34/37 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B17/29 ,  A61B90/00 ,  A61B17/04

Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

公开(公告)号：US20210007826A1

公开(公告)日：2021-01-14

申请号：US16954783

申请日：2018-12-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David C. Shafer ,  John A. Barton

IPC: A61B90/00 ,  A61B1/00 ,  A61B1/05 ,  A61B34/37 ,  A61B34/00

Abstract: A system and method for a teleoperational medical system is provided is provided that can include one or more processors, conductors can extend through a shaft with an interface positioned at a proximal end of the shaft and a sensor(s) positioned at a distal end of the shaft, and the conductors can electrically couple the sensor(s) to the processor via the interface. Signals can be transmitted over the conductors between the sensor(s) and the processor(s). The signals can include power and control signals transmitted in one direction over the conductors and sensor data transmitted in an opposite direction over the same conductors.

公开(公告)号：US09883914B2

公开(公告)日：2018-02-06

申请号：US14813944

申请日：2015-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00 ,  B25J19/02 ,  B25J9/16 ,  B25J18/06 ,  A61B34/30 ,  A61B34/00 ,  A61B90/30 ,  A61B34/37 ,  A61B17/00 ,  A61B17/29 ,  A61B17/04 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

公开(公告)号：US09526583B2

公开(公告)日：2016-12-27

申请号：US14684569

申请日：2015-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B17/29 ,  A61B17/04

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

公开(公告)号：US20150374453A1

公开(公告)日：2015-12-31

申请号：US14813944

申请日：2015-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00 ,  B25J19/02 ,  B25J9/16 ,  B25J18/06

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

Abstract translation: 一种装置包括机器人操纵器和安装到机器人操纵器的手术器械。 手术器械包括细长臂，其包括主动控制的可弯曲区域，其包括至少一个接合区域和端部执行器以及包括耦合到主动控制的可弯曲区域的远端的被动弯曲区域。 致动机构延伸通过可被动弯曲的区域并且联接到至少一个接合区域以控制主动控制的可弯曲区域。 通道延伸穿过细长臂，并且光纤定位在通道中。 光纤包括在被动弯曲区域或主动控制的可弯曲区域中的至少一个中的光纤弯曲传感器。

公开(公告)号：US09005113B2

公开(公告)日：2015-04-14

申请号：US14030122

申请日：2013-09-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B19/00 ,  A61B1/045 ,  A61B1/00 ,  G02B23/24 ,  A61B1/06 ,  A61B1/313 ,  H04N5/225

CPC classification number: A61B1/06 ,  A61B1/00 ,  A61B1/00009 ,  A61B1/00096 ,  A61B1/00105 ,  A61B1/0011 ,  A61B1/00114 ,  A61B1/00124 ,  A61B1/00149 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00193 ,  A61B1/045 ,  A61B1/051 ,  A61B1/0684 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/302 ,  G02B13/00 ,  G02B13/0015 ,  G02B23/24 ,  G02B23/2415 ,  G02B23/2476 ,  H04N5/225 ,  H04N5/2254 ,  H04N13/20 ,  H04N13/204 ,  H04N2005/2255

Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.

Abstract translation: 在一个实施例中，用于机器人手术系统的内窥镜照相机包括安装到患者侧推车的机器人臂的立体摄像机模块。 相机模块的光学和电光元件被密封在第一壳体内。 来自电光部件的信号通过形成密封的第一壳体的一侧的陶瓷基板中的迹线。 第二壳体围绕第一壳体并且光纤分散在壳体之间以在体腔中提供照明。 相机模块可以通过高压灭菌器灭菌。

公开(公告)号：US20180193100A1

公开(公告)日：2018-07-12

申请号：US15870116

申请日：2018-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00 ,  A61B90/30 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B90/00 ,  A61B17/04 ,  A61B17/29

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

公开(公告)号：US09565997B2

公开(公告)日：2017-02-14

申请号：US15018867

申请日：2016-02-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B19/00 ,  A61B1/313 ,  G02B23/24 ,  A61B1/045 ,  A61B1/06 ,  G02B13/00 ,  H04N13/02 ,  A61B1/05 ,  A61B1/00 ,  H04N5/225

CPC classification number: A61B1/06 ,  A61B1/00 ,  A61B1/00009 ,  A61B1/00096 ,  A61B1/00105 ,  A61B1/0011 ,  A61B1/00114 ,  A61B1/00124 ,  A61B1/00149 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00193 ,  A61B1/045 ,  A61B1/051 ,  A61B1/0684 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/302 ,  G02B13/00 ,  G02B13/0015 ,  G02B23/24 ,  G02B23/2415 ,  G02B23/2476 ,  H04N5/225 ,  H04N5/2254 ,  H04N13/20 ,  H04N13/204 ,  H04N2005/2255

Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.

Abstract translation: 在一个实施例中，用于机器人手术系统的内窥镜照相机包括安装到患者侧推车的机器人臂的立体摄像机模块。 相机模块的光学和电光元件被密封在第一壳体内。 来自电光部件的信号通过形成密封的第一壳体的一侧的陶瓷基板中的迹线。 第二壳体围绕第一壳体并且光纤分散在壳体之间以在体腔中提供照明。 相机模块可以通过高压灭菌器灭菌。