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公开(公告)号：US20170181805A1
公开(公告)日：2017-06-29
申请号：US15457982
申请日：2017-03-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas R. Nixon
CPC classification number: A61B34/35 , A61B17/29 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/06 , A61B90/361 , A61B2017/00017 , A61B2017/00207 , A61B2017/00477 , A61B2017/00725 , A61B2034/305 , A61B2090/066 , B25J9/1689 , B25J9/1692 , G05B2219/45123 , G05B2219/49305 , Y10S901/39 , Y10S901/40 , Y10S901/44 , Y10S901/45 , Y10S901/46
Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
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22.发明授权公开(公告)号：US09375288B2
公开(公告)日：2016-06-28
申请号：US14642163
申请日：2015-03-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
CPC classification number: A61B34/35 , A61B18/1206 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/76 , A61B2017/00477 , A61B2017/00482 , A61B2017/00973 , A61B2018/00988
Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
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公开(公告)号：US20140276950A1
公开(公告)日：2014-09-18
申请号：US14218300
申请日：2014-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
IPC: A61B19/00
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。
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公开(公告)号：US11166758B2
公开(公告)日：2021-11-09
申请号：US16153721
申请日：2018-10-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul W. Mohr , David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Salvatore J. Brogna
IPC: A61B18/12 , A61B34/30 , A61B34/37 , A61B1/00 , A61B17/32 , A61B18/14 , A61B18/20 , A61B17/00 , A61B34/00 , A61B90/00
Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.
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25.发明授权公开(公告)号：US10898287B2
公开(公告)日：2021-01-26
申请号：US16781457
申请日：2020-02-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
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Patent Agency Ranking
公开(公告)号：US10779899B2
公开(公告)日：2020-09-22
申请号：US16016436
申请日：2018-06-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Brandon D. Itkowitz , Thomas R. Nixon , Roman Devengenzo
IPC: A61B34/37 , A61B34/35 , A61B34/30 , A61B90/50 , F16M13/02 , B25J9/00 , B25J9/16 , B25J19/00 , A61B90/00
Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.
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27.发明授权公开(公告)号：US10575909B2
公开(公告)日：2020-03-03
申请号：US15796016
申请日：2017-10-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
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公开(公告)号：US20190038335A1
公开(公告)日：2019-02-07
申请号：US16153721
申请日：2018-10-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul W. Mohr , David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Salvatore J. Brogna
IPC: A61B18/12 , A61B34/30 , A61B34/37 , A61B1/00 , A61B34/00 , A61B90/00 , A61B18/14 , A61B18/20 , A61B17/00 , A61B17/32
Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.
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29.发明申请公开(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.
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公开(公告)号：US09872737B2
公开(公告)日：2018-01-23
申请号：US15457982
申请日：2017-03-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas R. Nixon
CPC classification number: A61B34/35 , A61B17/29 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/06 , A61B90/361 , A61B2017/00017 , A61B2017/00207 , A61B2017/00477 , A61B2017/00725 , A61B2034/305 , A61B2090/066 , B25J9/1689 , B25J9/1692 , G05B2219/45123 , G05B2219/49305 , Y10S901/39 , Y10S901/40 , Y10S901/44 , Y10S901/45 , Y10S901/46
Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
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