公开(公告)号：US12256891B2

公开(公告)日：2025-03-25

申请号：US16536868

申请日：2019-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert Eno ,  Amir Belson ,  David Blaha ,  David Mintz ,  Bruce R. Woodley

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B5/00 ,  A61B5/06

Abstract: A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.

公开(公告)号：US10893794B2

公开(公告)日：2021-01-19

申请号：US14833921

申请日：2015-08-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Belson

IPC: A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B5/06 ,  A61B1/00 ,  A61B34/00 ,  A61B34/30

Abstract: A system for advancing an instrument along an arbitrary path includes a flexible and steerable instrument and an electronic memory configured to store a three-dimensional model of the path, the three-dimension model being generated based on signals from the instrument as it traverses along the path. The system further includes an electronic motion controller logically coupled to the electronic memory, wherein the electronic motion controller is configured to automatically control the instrument to traverse the path based on the three dimensional model.

公开(公告)号：US10349816B2

公开(公告)日：2019-07-16

申请号：US15220174

申请日：2016-07-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Belson

IPC: A61B17/11 ,  A61B17/00 ,  A61B17/115 ,  A61B1/00 ,  A61B1/005 ,  A61B1/31 ,  A61B17/22 ,  A61B34/20

Abstract: An endoscopic device for approximating tissue includes an elongated body having a plurality of articulatable segments and a steerable distal portion. The device includes a first tissue approximation component positioned at a first axial position of the body. The first component is configured to move in a radial direction relative to the elongated body between a first position and a second position and be placed in an actuated state in which it is configured to grip tissue. The device includes a second tissue approximation component positioned at a second axial position of the body. The second component is configured to move in a radial direction relative to the elongated body between a first position and a second position and be placed in an actuated state in which it is configured to grip tissue. The components are configured to translate toward one another along a longitudinal direction of the elongated body.

公开(公告)号：US10105036B2

公开(公告)日：2018-10-23

申请号：US14537127

申请日：2014-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

公开(公告)号：US10736490B2

公开(公告)日：2020-08-11

申请号：US16123309

申请日：2018-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005 ,  A61B17/00

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US10660509B2

公开(公告)日：2020-05-26

申请号：US15660828

申请日：2017-07-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Keith P. Laby ,  Robert M. Ohline ,  Christoph M. Pistor ,  Charles E. Swinehart ,  Bruce R. Woodley ,  Amir Belson

IPC: A61B1/005 ,  A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  A61B34/20

Abstract: A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

公开(公告)号：US10426412B2

公开(公告)日：2019-10-01

申请号：US15156686

申请日：2016-05-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert Eno ,  Amir Belson ,  David Blaha ,  David Mintz ,  Bruce R. Woodley

IPC: A61B1/00 ,  A61B1/04 ,  A61B5/00 ,  A61B1/005 ,  A61B1/008 ,  A61B5/06

Abstract: The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present invention also relates to a system and method for limiting the amount the steerable distal portion can bend overall to reduce or eliminate the user's ability to over-retroflex the steerable distal portion of the endoscope.

公开(公告)号：US09913572B2

公开(公告)日：2018-03-13

申请号：US15364509

申请日：2016-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B34/20 ,  A61B1/008 ,  A61B5/06 ,  A61B17/00 ,  A61B90/00 ,  A61B34/10 ,  A61B34/30

CPC classification number: A61B1/0051 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/008 ,  A61B5/065 ,  A61B34/20 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/301

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US09808140B2

公开(公告)日：2017-11-07

申请号：US14486708

申请日：2014-09-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir Belson ,  Paul DeWitt Frey ,  Christine Wei Hsien McElhaney ,  James Craig Milroy ,  Robert Matthew Ohline ,  Joseph M. Tartaglia

IPC: A61B1/005 ,  A61B5/06 ,  A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B34/00 ,  A61B34/30

CPC classification number: A61B1/00004 ,  A61B1/00055 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/008 ,  A61B1/015 ,  A61B1/018 ,  A61B1/05 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

Abstract: A system for determining the shape of a surgical instrument includes an elongate instrument body having a selectively steerable distal tip, a pair of automatically controlled segments proximal to the selectively steerable distal tip, and a joint that couples the pair of adjacent automatically controlled segments together. An actuator changes an angle of the joint and a position encoder provides information associated with the joint angle. A controller receives the information associated with the angle of the joint and generates a three dimensional model of a shape of the instrument. A method for determining the three dimensional shape of an instrument includes providing axial position data to a controller, providing angular position data to the controller from a respective segment controller, and generating a three-dimensional model of a shape of said instrument using the axial position data and the angular position data.