公开(公告)号：US11272977B2

公开(公告)日：2022-03-15

申请号：US16205642

申请日：2018-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Scott E. Manzo ,  William A. Burbank ,  Richard D. Gresham

IPC: A61B18/14 ,  A61B34/00 ,  A61B17/32 ,  A61B17/00 ,  A61B17/29 ,  A61B18/00 ,  A61B34/30

Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

公开(公告)号：US20220074966A1

公开(公告)日：2022-03-10

申请号：US17448068

申请日：2021-09-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Lawton N. Verner

IPC: G01P15/093 ,  G02B6/34

Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibrotactile haptic feedback output device coupled to a master control arm surgeon grip.

公开(公告)号：US20220071727A1

公开(公告)日：2022-03-10

申请号：US17529967

申请日：2021-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Ladd T. JOHNSON

IPC: A61B34/00 ,  A61B34/30

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

公开(公告)号：US11269146B2

公开(公告)日：2022-03-08

申请号：US16700243

申请日：2019-12-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jonathan Halderman ,  Rumen Deyanov

IPC: G02B6/40 ,  A61B1/00 ,  G02B6/25

Abstract: An apparatus comprises a first fastener part having a first set of mating features and a second fastener part having a second set of mating features. Coupling the first set of mating features with the second set of mating features, such that the first set of mating features contacts and at least partially overlaps the second set of mating features, forms a fastener having a channel with a hexagonal cross-section. The channel is configured to receive a plurality of fibers. Coupling the first fastener part to the second fastener part clamps the plurality of fibers in a hexagonal packing configuration.

公开(公告)号：US11259870B2

公开(公告)日：2022-03-01

申请号：US15725271

申请日：2017-10-04

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

Inventor： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC: A61B1/00 ,  A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

公开(公告)号：US11259798B2

公开(公告)日：2022-03-01

申请号：US16511545

申请日：2019-07-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy A. Limon ,  Grant Duque

IPC: A61B17/062 ,  A61B34/30 ,  A61B17/28

Abstract: A medical device includes a clevis, a first jaw, and a second jaw. The first jaw includes a first proximal gripping portion and a first distal gripping portion, and the first proximal gripping portion includes a first needle alignment portion. The second jaw is coupled to the clevis and includes a second proximal gripping portion and a second distal gripping portion, and the second proximal gripping portion includes a second needle alignment portion. The first and second needle alignment portions are located opposite each other when in the closed orientation. The first and second needle alignment portions define a clamp path when in the closed orientation within which the curved portion of the needle is received when the second jaw is in the open orientation. The first and second needle alignment portions are configured to rotate the needle when moving to the closed orientation.

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：US11246671B2

公开(公告)日：2022-02-15

申请号：US16503403

申请日：2019-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Michael L. Hanuschik ,  Paul W. Mohr ,  Arjang M. Hourtash

IPC: A61B1/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B1/313 ,  A61B34/20

Abstract: Systems and methods of recentering an input control include a control unit configured to suspend teleoperated control of an end effector by the input control in response to a recentering request, determine a recentering move for the input control to provide positional and orientational harmony between the input control and the end effector, execute the recentering move, and reinstate teleoperated control of the end effector by the input control. In some embodiments, to determine the recentering move the control unit is configured to determine one or more first positions associated with the end effector, map the first positions to a view coordinate system, map the first positions from the view coordinate system to a console workspace coordinate system, and determine one or more second positions for one or more control points on the input control, the control points corresponding to the mapped first positions in the console workspace coordinate system.

公开(公告)号：US11241274B2

公开(公告)日：2022-02-08

申请号：US15800252

申请日：2017-11-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dennis H. Vaders ,  Stuart Taylor

IPC: A61B18/14 ,  B29C70/76 ,  B29C65/62 ,  A61B18/00 ,  B29L31/00 ,  A61B17/29 ,  A61B17/00 ,  A61B34/30

Abstract: An electrode assembly comprises an electrode support, an electrode on the electrode support, the electrode having a working surface extending generally transverse to a thickness of the electrode, and a filament of electrically insulative material overlying a portion of the working surface of the electrode and at least partially extending through the thickness of the electrode. An electrosurgical may include an end effector having a jaw member comprising such an electrode assembly.

公开(公告)号：US20220032453A1

公开(公告)日：2022-02-03

申请号：US17505566

申请日：2021-10-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang Hourtash

IPC: B25J9/16 ,  B25J18/00 ,  A61B34/30 ,  A61B34/37

Abstract: A medical system includes a manipulator arm including a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. A processor coupled to the manipulator arm performs operations including calculating a first movement of the joints in a null-space of a Jacobian of the manipulator arm, the first movement being calculated in accordance with a first objective for arm-to-patient collision avoidance. The operations further include calculating a second movement of the joints in the null-space, the second movement being calculated in accordance with a second objective for arm-to-arm collision avoidance, and combining at least the first and second movements into a combined movement in a manner allowing the first objective to overpower the second objective, and driving the joints to effect the combined movement.