公开(公告)号：US20190209253A1

公开(公告)日：2019-07-11

申请号：US16353932

申请日：2019-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/37 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35 ,  A61B90/10 ,  B25J9/16 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.

公开(公告)号：US10335242B2

公开(公告)日：2019-07-02

申请号：US14542126

申请日：2014-11-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Roman L. Devengenzo ,  David S. Mintz ,  Tracey A. Morley ,  Theodore C. Walker

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

Abstract: A method comprises receiving an input at a control system indicating a status change for a first tool coupled to a first manipulator assembly of a telesurgical system. The status change is correlated to a procedure to decouple the first tool from the first manipulator assembly or manually reconfigure the first manipulator assembly. The method also includes transmitting a command to the first manipulator assembly. Responsive to the transmitted command, a multiple-color light emitting diode array in an indicator section on the first manipulator assembly is activated to generate a signal indicating a reconfiguration action for the first tool or the first manipulator assembly to a first user.

公开(公告)号：US20180297206A1

公开(公告)日：2018-10-18

申请号：US16012534

申请日：2018-06-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

IPC: B25J9/16 ,  A61B17/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  A61B34/37 ,  A61B1/04 ,  A61B90/00 ,  A61B1/313

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US09265584B2

公开(公告)日：2016-02-23

申请号：US14534526

申请日：2014-11-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

IPC: B25J9/00 ,  A61B19/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

公开(公告)号：US20140051922A1

公开(公告)日：2014-02-20

申请号：US13972115

申请日：2013-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： GARY S. GUTHART ,  David S. Mintz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Robert G. Younge

IPC: A61B19/00 ,  A61B17/00 ,  A61B1/313 ,  A61B8/12 ,  A61B1/00 ,  A61B1/04

CPC classification number: A61B34/30 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/04 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B17/00234 ,  A61B18/20 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/305 ,  A61B2090/031 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0807 ,  A61B2090/506

Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

Abstract translation: 除了提供手术部位本身的图像之外，用于在患者上执行机器人辅助外科手术的系统和方法使得图像显示装置能够向操作者提供与外科手术相关的辅助信息。 系统和方法允许操作者在执行外科手术过程中选择性地访问和参考图像显示装置上的辅助信息。

公开(公告)号：US11617499B2

公开(公告)日：2023-04-04

申请号：US17389942

申请日：2021-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kevin Durant ,  David S. Mintz ,  Robert M. Ohline

IPC: A61B1/005 ,  A61B34/20 ,  A61B5/06 ,  A61M25/01 ,  A61B1/00 ,  A61B90/00

Abstract: A system comprises an instrument having a bendable portion with first and control elements extending in the bendable portion and a control system operably coupled to an actuator and a sensor. The control system operates to, while the bendable portion is in a neutral position, command the actuator to move the first control element a first amount until slack is removed from the first control element and command the actuator to move the second control element a second amount until slack is removed from the second control element. The control system also receives a first control element calibration position after moving the first control element the first amount and receives a second control element calibration position after moving the second control element the second amount. The control system also commands the actuator to bend the bendable portion from the neutral position and determine a resulting shape of the bendable portion.

公开(公告)号：US20230054233A1

公开(公告)日：2023-02-23

申请号：US17979594

申请日：2022-11-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： PAUL A. MILLMAN ,  David W. Bailey ,  Dean F. Hoornaert ,  David Q. Larkin ,  David S. Mintz

IPC: A61B34/30 ,  A61M13/00 ,  A61B34/00 ,  A61B34/37 ,  A61M1/00

Abstract: A surgical instrument may comprise a housing and a shaft a shaft extending within the housing. The shaft may include first and second ends. The shaft may be configured for rotation in response to either a robotic actuation of the shaft or a manual actuation of the shaft. The surgical instrument may also comprise a receiving member coupled to the first end of the shaft. The receiving member may be configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver to rotate the shaft and articulate an instrument component coupled to the shaft. The surgical instrument may also comprise a manual actuation component coupled to the second end of the shaft and extending from the housing. The manual actuation component may be configured to receive the manual actuation to rotate the shaft and articulate the instrument component coupled to the shaft.

公开(公告)号：US20220241034A1

公开(公告)日：2022-08-04

申请号：US17698848

申请日：2022-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morely ,  Theordore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  B25J9/00

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

公开(公告)号：US11337765B2

公开(公告)日：2022-05-24

申请号：US16290239

申请日：2019-03-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morley ,  Theodore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  B25J9/00 ,  A61B90/00 ,  A61B17/00

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

公开(公告)号：US11304764B2

公开(公告)日：2022-04-19

申请号：US16290239

申请日：2019-03-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morley ,  Theodore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  B25J9/00 ,  A61B90/00 ,  A61B17/00

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.