公开(公告)号：US20220117680A1

公开(公告)日：2022-04-21

申请号：US17422697

申请日：2020-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Saleh TABANDEH ,  Daniel H. GOMEZ

IPC: A61B34/30 ,  A61B90/00 ,  A61B90/50

Abstract: Systems and methods for automated docking include a linkage, a docking arm located near a distal end of the linkage, a docking support mechanism, and one or more processors. The one or more processors are configured to detect a docking port using the docking support mechanism and actuate the linkage based on the detection to align the docking arm with the docking port, move the docking arm toward the docking port, and dock the docking arm to the docking port. In some embodiments, to actuate the linkage based on the detection, the one or more processors are configured to align the docking arm with an alignment point of the docking port, align an alignment axis of the docking arm with an alignment axis of the docking port, rotationally align the docking arm with the docking port, and reduce a relative distance between the docking arm and the docking port.

公开(公告)号：US11304771B2

公开(公告)日：2022-04-19

申请号：US16570917

申请日：2019-09-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dorin Panescu ,  Daniel H. Jones ,  Christopher B. Allenby

IPC: A61B34/00 ,  A61B34/32 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00

Abstract: A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D); a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.

公开(公告)号：US11304761B2

公开(公告)日：2022-04-19

申请号：US17097328

申请日：2020-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey Roh ,  Justin Esterberg

IPC: A61B34/20 ,  G16H40/60 ,  G06N3/08 ,  A61B90/00 ,  G06N20/00

Abstract: This invention is a system and method for utilizing artificial intelligence to operate a surgical robot (e.g., to perform a laminectomy), including a surgical robot, an artificial intelligence guidance system, an image recognition system, an image recognition database, and a database of past procedures with sensor data, electronic medical records, and imaging data. The image recognition system may identify the tissue type present in the patient and if it is the desired tissue type, the AI guidance system may remove a layer of that tissue with the end effector on the surgical robot, and have the surgeon define the tissue type if the image recognition system identified the tissue as anything other than the desired tissue type.

公开(公告)号：US11298200B2

公开(公告)日：2022-04-12

申请号：US16842592

申请日：2020-04-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.

公开(公告)号：US20220104697A1

公开(公告)日：2022-04-07

申请号：US17550718

申请日：2021-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  B08B3/02 ,  B08B5/02 ,  A61B1/00

Abstract: A method comprises, based on a position of a medical instrument within a patient anatomy, determining, by a control system, whether an obstruction is on a surface of a lens of the medical instrument. The method further comprises, based on a determination that the obstruction is on the surface of the lens, instructing, by the control system, a valve control mechanism to open a valve to release a flow of pressurized fluid through a nozzle of the medical instrument and over the surface of the lens. The valve is configured to control provision of the pressurized fluid.

公开(公告)号：US11284782B2

公开(公告)日：2022-03-29

申请号：US16775259

申请日：2020-01-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  A61B1/008 ,  A61B1/05 ,  A61B90/00 ,  A61B90/30 ,  A61B34/20 ,  A61B17/00

Abstract: A system and method for multi-mode imaging device control includes a manipulator having one or more first joints and one or more second joints and a controller. The one or more first joints are configured to pivot a focal point of an imaging device about a pivot. The one or more second joints are configured to position the pivot within a three-dimensional space. The controller is configured to actuate the one or more first joints in response to sensed movement of one or more input devices until a release of the actuation of the one or more first joints is detected, detect the release of the actuation of the one or more first joints, and actuate the one or more second joints in response to sensed movement of the one or more input devices following the detection of the release of the actuation of the one or more first joints.

公开(公告)号：US20220087758A1

公开(公告)日：2022-03-24

申请号：US17541554

申请日：2021-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  B25J9/12 ,  B25J9/16

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

公开(公告)号：US20220087668A1

公开(公告)日：2022-03-24

申请号：US17538220

申请日：2021-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christina J. SHUH ,  Ralph WADENSWEILER ,  Kyle R. MILLER

IPC: A61B17/02

Abstract: A support apparatus for a medical device includes a first sleeve, a second sleeve, and a flexible contact member. The first sleeve is configured to be coupled to a first tool member of an end effector assembly that includes the first tool member, a second tool member, and a clevis, in which the first and second tool members are each rotatably coupled to the clevis such that second tool member can be moved relative to the first tool member between a first and a second orientation. The second sleeve is configured to be coupled to the second tool member. The flexible contact member is coupled to the first sleeve and the second sleeve, and is configured be moved between a collapsed configuration when the second tool member is in the first orientation and an expanded configuration when the second tool member is in the second orientation.

公开(公告)号：US11278364B2

公开(公告)日：2022-03-22

申请号：US16568118

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50 ,  A61B50/00 ,  G03B5/02

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US11273290B2

公开(公告)日：2022-03-15

申请号：US14844341

申请日：2015-09-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anoop B. Kowshik

IPC: A61M25/01 ,  A61B17/00 ,  A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

Abstract: A medical instrument includes a nested conduit extending through an elongate flexible body. A tendon extends through an inner lumen of the inner conduit. A first control element is coupled to the outer conduit and a second control element is coupled to the inner conduit. Each of the first and second control elements is adjustable between a first state and a second state. The outer conduit is axially constrained proximate the first control element in the first state of the first control element and is not axially constrained in the second state. The inner conduit is axially constrained proximate the second control element in the first state of the second control element and is not axially constrained in the second state. An articulatable length of the nested conduit is variable based on adjustment between the first and second states of the first control element and the second control element.