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公开(公告)号：US20140128849A1
公开(公告)日：2014-05-08
申请号：US14068127
申请日：2013-10-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
IPC: A61B17/00
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
Abstract translation: 包括安装在轴的远端处的轴和致动结构的医疗器械可以使用连接到致动结构的一对腱，沿轴向下延伸，并且在相反方向上分别卷绕在绞盘上。 可以联接预加载系统以维持腱中的最小张力。
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公开(公告)号：US20250160806A1
公开(公告)日：2025-05-22
申请号：US19023906
申请日：2025-01-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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公开(公告)号：US12220194B2
公开(公告)日：2025-02-11
申请号：US18306827
申请日：2023-04-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
Abstract: A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.
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公开(公告)号：US12016539B2
公开(公告)日：2024-06-25
申请号：US17841500
申请日：2022-06-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Katherine D. Stoy , Samuel Kwok Wai Au , Carolyn M. Fenech , Giuseppe Maria Prisco
CPC classification number: A61B17/00234 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/003 , A61B2017/00309 , A61B2017/00318 , A61B2017/00336
Abstract: A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.
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公开(公告)号：US20230270980A1
公开(公告)日：2023-08-31
申请号：US18313961
申请日：2023-05-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Samuel Kwok Wai Au , Caitlin Q. Donhowe , Carolyn M. Fenech , Catherine J. Mohr , Giuseppe Maria Prisco
IPC: A61M25/06 , A61B1/00 , A61B1/005 , A61B1/018 , A61B5/06 , A61B10/02 , A61M25/00 , A61B1/01 , A61B10/04 , A61M25/01
CPC classification number: A61M25/0662 , A61B1/00006 , A61B1/00078 , A61B1/00154 , A61B1/0052 , A61B1/018 , A61B5/065 , A61B10/02 , A61M25/0074 , A61M25/003 , A61B1/01 , A61B5/06 , A61B10/04 , A61M25/0113 , A61B2034/2051
Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.
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Patent Agency Ranking
公开(公告)号：US11666398B2
公开(公告)日：2023-06-06
申请号：US15931536
申请日：2020-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au
CPC classification number: A61B34/35 , A61B1/0016 , A61B1/00078 , A61B34/30 , A61B34/71 , A61B34/74 , A61B1/00006 , A61B1/0053 , A61B1/0057 , A61B1/2676 , A61B34/76 , A61B2034/301 , A61B2034/742 , A61M16/04
Abstract: A system comprises a flexible instrument, a first user input device spaced from the flexible instrument, and a second user input device including a first state and a second state. The system further comprises a control system configured to, based on an input received from the first user input device, control an orientation of the flexible instrument. The control system is further configured to, based on an input received from the second user input device, adjust a stiffness of the flexible instrument. The stiffness of the flexible instrument is lower when the second user input device is in the first state than when the second user input device is in the second state.
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公开(公告)号：US20210228293A1
公开(公告)日：2021-07-29
申请号：US17165245
申请日：2021-02-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au
Abstract: A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.
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公开(公告)号：US11013567B2
公开(公告)日：2021-05-25
申请号：US16084449
申请日：2017-02-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Melody Wu , Samuel Kwok Wai Au
Abstract: Systems and methods for controlling an insertion force when inserting a medical instrument through a cannula component are provided. Such a system may include a manipulator and a control system in communication with the manipulator. The manipulator is configured to be operatively coupled to a medical instrument. The manipulator is adapted to move the medical instrument through the cannula component. The control system is operative to determine an insertion profile associated with at least one of the medical instrument and the cannula component. And the control system is configured to control an insertion force to affect motion of the medical instrument during manual insertion of the medical instrument through the cannula component.
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公开(公告)号：US10791908B2
公开(公告)日：2020-10-06
申请号：US15505856
申请日：2015-08-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au
IPC: A61B5/05 , A61B1/00 , A61B5/06 , A61B1/005 , A61B34/37 , A61B34/30 , A61B34/00 , A61M25/00 , A61M25/01 , A61B34/20
Abstract: A method, and associated system, includes receiving inputs from a medical instrument having at least one elongated actuation element used to manipulate a position of the instrument. The method also includes determining a force on a tip of the medical instruments by applying the inputs to a lumped model of the instrument, the lumped model comprising a mass of a motor user to operate the at least one elongated actuation member and a mass of at least a portion of a catheter body of the medical instrument.
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公开(公告)号：US20190269388A1
公开(公告)日：2019-09-05
申请号：US16414690
申请日：2019-05-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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