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公开(公告)号：US11234700B2
公开(公告)日：2022-02-01
申请号：US16331672
申请日：2017-09-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicholas Ragosta , Matthew A. Wixey
IPC: A61B17/072 , A61B34/00 , A61B34/30 , A61B17/00 , A61B17/29
Abstract: A surgical device includes an elongated shaft, an end effector, and a wrist assembly. The wrist assembly includes a first outer link, a first inner link, and a second outer link. The first outer link is connected to the shaft and includes first gear teeth. The first inner link is pivotally coupled with the first outer link. The second outer link is pivotally coupled with the first inner link. The second outer link includes second gear teeth that interface with the first gear teeth and control orientation of the first inner link relative to the first outer link and the first outer link throughout a range of orientations of the wrist assembly.
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公开(公告)号：US11234694B2
公开(公告)日：2022-02-01
申请号：US15647981
申请日：2017-07-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Lewis Isbell, Jr.
IPC: A61B17/068 , A61B17/29 , A61B17/00 , A61B90/50
Abstract: A method comprises providing an articulation tool including an articulation mechanism comprising a proximal link and a distal link, end effector, elongated shaft, rotating member, and an articulation lock comprising a first lock configured to prevent pivoting of the elongated shaft about a yaw axis, a second lock configured to prevent pivoting about a pitch axis, and an actuator to actuate both locks simultaneously. The method further comprises driving movement of the proximal link which causes corresponding movement of the distal link, adjusting the actuator between an unlocked configuration and a locked configuration in which the links and end effector are held in a fixed orientation with respect to the elongated shaft, and driving rotation of the rotating member which causes rotation of the elongated shaft while the links and end effector are held in the fixed orientation and rotation of the end effector about the end effector longitudinal axis.
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333.发明申请公开(公告)号：US20220015763A1
公开(公告)日：2022-01-20
申请号：US17414819
申请日：2019-12-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Matthew Wixey , Atal Patel , Babak D. Jasemian , Nicholas Ragosta
IPC: A61B17/072 , A61B90/90 , A61B90/00 , A61B34/30
Abstract: Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.
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公开(公告)号：US20220015617A1
公开(公告)日：2022-01-20
申请号：US17311300
申请日：2019-12-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Jeffrey M. DiCarlo , Ian E. McDowall
Abstract: Technology described herein can be embodied in a method that includes obtaining, using an endoscopic camera, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in a corresponding wavelength range. The corresponding wavelength ranges are selected in accordance with a set of chromophores present in the surgical scene, and any two of the corresponding wavelength ranges partially non-overlapping. The method also includes determining, based on the plurality of images, a concentration of each of one or more chromophores in the set at various portions of the surgical scene, and generating, by one or more processing devices, based on information about the concentration of each of the one or more chromophores, a representation of the surgical scene. The method further includes presenting the representation of the surgical scene on an output device associated with the surgical device.
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335.发明申请公开(公告)号：US20220014664A1
公开(公告)日：2022-01-13
申请号：US17369688
申请日：2021-07-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Zhen He , Jeffrey M. DiCarlo , Heath Feather
Abstract: An illustrative apparatus may perform gaze-based auto-exposure management of image frames. For example, the apparatus may determine, for an image frame within an image frame sequence captured by an image capture system, auto-exposure values for pixel units into which the image frame is divided. The apparatus may then assign weight values to the pixel units based on a gaze direction of a viewer viewing the image frame sequence. Based on the auto-exposure values determined for the pixel units and the weight values assigned to the pixel units, the apparatus may update one or more auto-exposure parameters for use by the image capture system to capture an additional image frame within the image frame sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of image frames are also disclosed.
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Patent Agency Ranking
公开(公告)号：US20220012915A1
公开(公告)日：2022-01-13
申请号：US17369612
申请日：2021-07-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Zhen He , Jeffrey M. DiCarlo
Abstract: An illustrative apparatus may identify, within an image frame captured by an image capture system, a signal region of the image frame and a background region of the image frame. The apparatus may determine one or more of a signal auto-exposure value of the signal region or a background auto-exposure value of the background region. Based on one or more of the signal auto-exposure value or the background auto-exposure value, the apparatus may determine a frame auto-exposure value. Additionally, based on the frame auto-exposure value, the apparatus may adjust one or more auto-exposure parameters used by the image capture system to capture an additional image frame. Corresponding apparatuses, systems, and methods for managing auto-exposure of image frames are also disclosed.
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公开(公告)号：US11219385B2
公开(公告)日：2022-01-11
申请号：US16353778
申请日：2019-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Prashant Chopra
Abstract: A medical system comprises an image capture probe having a camera at the probe tip; a sensor system; and a processor configured to: receive an image from the camera when the probe is located within an anatomic region; identify a probe tip position based on information received from the sensor system; identify a tissue structure in the image; define a subregion of a model of the anatomic region, the subregion surrounding the probe tip and including a plurality of virtual tissue structures—a first set of virtual tissue structures is distal of the probe tip; compare the tissue structure to a portion of the plurality of virtual tissue structures to identify a best matched virtual tissue structure; and register the image to the model based on identification of the best matched virtual tissue structure to identify a virtual probe position for the probe tip with respect to the model.
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公开(公告)号：US20220003615A1
公开(公告)日：2022-01-06
申请号：US17291486
申请日：2019-11-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Grant M. KADOKURA
IPC: G01L1/22
Abstract: A force sensor includes an annular diaphragm that includes an inner perimeter and an outer perimeter; the diaphragm has an outer annular portion having a tapered thickness that increases with decreasing radial distance from the outer perimeter; the diaphragm has an inner annular portion having a tapered thickness that increases with decreasing radial distance from the inner perimeter; a first strain gauge at the outer annular portion; and a second strain gauge at the inner annular portion.
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公开(公告)号：US20220000539A1
公开(公告)日：2022-01-06
申请号：US17291275
申请日：2019-10-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jignesh M. Shah , Duane W. Marion
Abstract: Abstract: An electrosurgical method is provided to seal biological tissue comprising providing RF power to the tissue during an RF power delivery time interval comprising: measuring a change in impedance of the tissue with respect to RF energy delivered to the tissue during an initial portion of the time interval; selecting an RF power delivery profile, based at least in part upon the measured change in impedance of the tissue with respect to RF energy delivered to the tissue; and imparting RF power to the tissue according to the selected RF power delivery profile during a latter portion of the time interval.
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340.发明申请公开(公告)号：US20210407053A1
公开(公告)日：2021-12-30
申请号：US17294528
申请日：2019-11-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Geoffrey A. Richmond , Brian D. Hoffman
Abstract: A lighting emulation system accesses an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The lighting emulation system accesses a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the lighting emulation system determines a far-range lighting coefficient for each pixel in the image. Specifically, the far-range lighting coefficient for each respective pixel is determined based on the corresponding depth data included in the depth map for that respective pixel. Based on the image and the far-range lighting coefficient for each pixel in the image, the lighting emulation system generates a processed image depicting the operational scene as illuminated by far-range lighting, and provides the processed image for presentation on a display screen.
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