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21.发明公开公开(公告)号：US20240016556A1
公开(公告)日：2024-01-18
申请号：US18373695
申请日：2023-09-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John Ryan Steger , David Q. Larkin
CPC classification number: A61B34/30 , B25J9/1689 , B25J9/1697 , A61B90/361 , A61B34/37 , A61B2034/2065
Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
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公开(公告)号：US11712314B2
公开(公告)日：2023-08-01
申请号：US16764346
申请日：2018-11-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Allen C. Thompson , Grant M. Kadokura , John Ryan Steger
CPC classification number: A61B34/74 , A61B34/20 , A61B34/35 , A61B34/37 , A61B2017/00203 , A61B2017/00207 , A61B2017/00216 , A61B2017/00424 , A61B2017/00438 , A61B2017/00973 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/2063 , A61B2034/741 , A61B2034/742
Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.
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公开(公告)号：US11564760B2
公开(公告)日：2023-01-31
申请号：US16340966
申请日：2017-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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公开(公告)号：US11564734B2
公开(公告)日：2023-01-31
申请号：US16918026
申请日：2020-07-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel T. Crews , John Ryan Steger
Abstract: A surgical instrument includes a shaft having a proximal end and a distal end and end effector coupled to the distal end of the shaft. An electrical transmission conduit extends along the shaft from the proximal end to the distal end and is configured to deliver electrical energy to energize the end effector. A connector assembly electrically couples the electrical transmission conduit to the end effector, and the end effector is pivotably coupled to the connector assembly. In another aspect, a surgical instrument includes a pin, an electrically conductive connector including a contact portion and an attachment, the contact portion surrounding the pin. An electrical conduit is electrically coupled to the attachment of the connector. An electrically conductive jaw including an aperture is pivotable around the contact portion, and the contact portion electrically contacts the jaw at the aperture of the jaw.
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公开(公告)号：US11510694B2
公开(公告)日：2022-11-29
申请号：US16636500
申请日：2018-08-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Natalie Burkhard , John Ryan Steger
Abstract: A medical apparatus can include an instrument comprising a shaft and a jaw assembly coupled to an end of the shaft; an image capture device; and a controller operably coupled to the image capture device to receive image data from the image capture device. The image data is from images of material gripped between jaw members of the jaw assembly and captured by the image capture device, with the controller programmed to process the received image data using at least one of optical flow and digital image correlation. A medical apparatus can include an instrument comprising a shaft, and a jaw assembly coupled to an end of the shaft, the jaw assembly comprising a pair of jaw members having opposing surfaces configured to grasp material between the opposing surfaces, wherein at least a portion of the opposing surface of a first jaw member of the pair of jaw members is transparent.
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Patent Agency Ranking
公开(公告)号：US11432894B2
公开(公告)日：2022-09-06
申请号：US16869421
申请日：2020-05-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Grant M. Kadokura , Andrew C. Waterbury , Manuel Ahumada
Abstract: A surgical instrument is provided that includes an elongated shaft that includes a proximal end and a distal end; a cantilever beam is disposed at the distal end of the shaft; an optical fiber extends within a channel that extends within between proximal and distal portions of the cantilever beam; a first fiber Bragg grating (FBG) is formed in a segment of the optical fiber within the proximal portion of the beam; a second FBG is formed in a segment of the optical fiber within the distal portion of the beam.
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公开(公告)号：US11357526B2
公开(公告)日：2022-06-14
申请号：US16432547
申请日：2019-06-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger
Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.
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公开(公告)号：US20220175480A1
公开(公告)日：2022-06-09
申请号：US17540396
申请日：2021-12-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Abstract: A manipulator for articulating a surgical instrument may comprise an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion. The manipulator may comprise a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion. The linkage assembly may comprise a first, second, and third linkage arms. The second linkage arm may be rotatably coupled to the first linkage arm with a proximal end of the first linkage arm and a proximal end of the second linkage arm coupled at a proximal pivot joint. A third linkage arm may be translationally coupled to the second linkage arm. Movement of the second linkage arm and the third linkage arm may cause a distal end of the third linkage arm to trace an arc around the remote center of motion.
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29.发明申请公开(公告)号：US20220160448A1
公开(公告)日：2022-05-26
申请号：US17440349
申请日：2020-03-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ryan C. Abbott , John Ryan Steger
Abstract: A system includes a manipulator assembly and a shroud that defines a sterile volume. The manipulator assembly includes a sterile link or a non-sterile link covered by an external sterile cover, and the link is received into and withdrawn from the shroud's sterile volume. The outside of the shroud may be non-sterile while the shroud maintains its interior sterile volume, so that the link or external sterile cover remains sterile as it moves within the shroud's sterile volume. The shroud may then extend into a non-sterile field in a surgical environment, and the link or external sterile cover remains sterile as the link is moved from the non-sterile field into a sterile field for surgery. The shroud may be movable, it may mechanically support the manipulator assembly, and it may be coupled to a surgical table or to a unit separate from a surgical table.
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公开(公告)号：US20220151716A1
公开(公告)日：2022-05-19
申请号：US17649721
申请日：2022-02-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.
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