公开(公告)号：US08771180B2

公开(公告)日：2014-07-08

申请号：US13958842

申请日：2013-08-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Catherine J. Mohr

IPC: A61B17/02

CPC classification number: A61B1/00087 ,  A61B1/00082 ,  A61B1/00193 ,  A61B1/313 ,  A61B1/32 ,  A61B17/0218 ,  A61B17/29 ,  A61B34/70 ,  A61B34/72 ,  A61B90/37

Abstract: A single port entry surgical instrument has an elongated structure with lumens through which surgical tools and an image capturing device may be inserted and controllably extended out of its distal end for performing a medical procedure, a tubular-shaped balloon disposed around the elongated structure, and an expandable retractor disposed around the balloon so that when the balloon is inflated, the retractor expands and locks in an expanded configuration to retract extraneous tissue. The port entry may be secured using the expandable retractor or sealed using another inflatable balloon disposed around the proximal end of the elongated structure and centered in the port entry.

Abstract translation: 单个入口手术器具具有细长结构，其具有内腔，外科手术工具和图像捕获装置可以通过外部工具和图像捕获装置插入并可控地从其远端延伸出来用于执行医疗程序，围绕细长结构设置的管状球囊，以及 扩张式收缩器设置在气囊周围，使得当气囊膨胀时，牵开器膨胀并锁定在扩张构型中以缩回外来组织。 可以使用可伸缩牵开器来固定端口入口，或者使用围绕细长结构的近端设置并且位于端口入口中心的另一个可充气气囊进行密封。

公开(公告)号：US20140031659A1

公开(公告)日：2014-01-30

申请号：US13947626

申请日：2013-07-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi ZHAO ,  Catherine J. Mohr ,  Jonthan M. Sorger

IPC: A61B1/00 ,  A61B19/00 ,  A61B5/026 ,  A61B5/00 ,  A61B5/02 ,  A61B1/04

CPC classification number: A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/043 ,  A61B5/0059 ,  A61B5/02028 ,  A61B5/02042 ,  A61B5/0261 ,  A61B5/742 ,  A61B5/743 ,  A61B34/30 ,  A61B90/36 ,  A61B2017/00119 ,  G06T7/0016 ,  G06T7/11 ,  G06T7/269 ,  G06T2207/10024 ,  G06T2207/30096

Abstract: A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.

Abstract translation: 手术系统中的出血检测单元在手术室中的显示单元上呈现场景之前处理所获取的场景中的信息。 例如，出血检测单元分析所获取的场景中的像素数据，并确定场景中是否存在一个或多个血液初始位置。 在检测到血液的初始位置时，通过在显示单元上显示的场景中的初始位置图标识别该区域。 在一个方面，处理是实时完成的，这意味着向外科医生呈现获得的场景没有实质的延迟。

公开(公告)号：US20230380665A1

公开(公告)日：2023-11-30

申请号：US18302698

申请日：2023-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

CPC classification number: A61B1/00087 ,  A61B34/37 ,  A61B34/30 ,  A61B1/0016 ,  A61B1/0051 ,  A61B34/71 ,  A61B34/72 ,  A61B1/00193 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/0086 ,  A61B8/12 ,  A61B34/70 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00234 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B90/361

Abstract: A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.

公开(公告)号：US20230249354A1

公开(公告)日：2023-08-10

申请号：US18187612

申请日：2023-03-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

CPC classification number: B25J9/1697 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  A61B90/36 ,  A61B34/25 ,  A61B90/361 ,  A61B34/30 ,  A61B34/37 ,  B25J9/1666 ,  A61B90/37 ,  B25J9/1689 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  A61B34/20

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

公开(公告)号：US11684758B2

公开(公告)日：2023-06-27

申请号：US16863067

申请日：2020-04-30

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 ,  A61B34/20 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/0052 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/065 ,  A61B10/02 ,  A61B10/04 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61B1/0057 ,  A61B5/062 ,  A61B5/6852 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

公开(公告)号：US20220211450A1

公开(公告)日：2022-07-07

申请号：US17575541

申请日：2022-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： GIUSEPPE MARIA PRISCO ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01B11/24 ,  H04W4/80 ,  H04W12/06 ,  A61B17/24 ,  H04L9/40 ,  G01D5/353 ,  A61B34/00 ,  A61B34/20

Abstract: A system comprises a teleoperated manipulator, a manually operated instrument, and a position sensor coupled to the manually operated instrument. The position sensor is configured to generate pose information for the manually operated instrument. The system further comprises a controller configured to map a pose of the manipulator to a fixed world reference frame based on three-dimensional pose information for the manipulator known internally within the system. The controller is further configured to map a pose of the manually operated instrument to the fixed world reference frame based on the pose information for the manually operated instrument.

公开(公告)号：US11252141B2

公开(公告)日：2022-02-15

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B17/24 ,  G01B11/24 ,  A61B34/30 ,  A61B34/20 ,  H04L29/06 ,  H04W4/80 ,  H04W12/06 ,  A61B18/20 ,  A61B18/00 ,  G01D5/353

Abstract: A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

公开(公告)号：US20210256749A1

公开(公告)日：2021-08-19

申请号：US17213924

申请日：2021-03-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42 ,  B25J9/16

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

公开(公告)号：US20200368915A1

公开(公告)日：2020-11-26

申请号：US16932373

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  A61B34/00

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US20200367720A1

公开(公告)日：2020-11-26

申请号：US16991695

申请日：2020-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Jonathan M. Sorger

IPC: A61B1/00 ,  A61B5/02 ,  A61B1/04 ,  A61B5/026 ,  A61B5/00 ,  G06T7/11 ,  G06T7/269 ,  G06T7/00 ,  A61B1/06 ,  A61B1/07 ,  A61B90/00

Abstract: A bleeding detection system may receive, from an image capture system during a surgical procedure, a first frame of data of a scene of a surgical site and identify, based on the first frame, a region of blood in the scene. The system may receive, from the image capture system subsequent to receiving the first frame, a second frame of data of the scene, the second frame including data representative of the region of blood. The system may estimate, based on the first frame and the second frame, motion of blood flow in the region of blood and generate data representative of a combined image comprising the second frame and a visual indicator indicating the motion of blood flow in the region of blood. The system may transmit, during the surgical procedure, the data representative of the combined image to a display unit for display of the combined image.