公开(公告)号：US20210401538A1

公开(公告)日：2021-12-30

申请号：US17472827

申请日：2021-09-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon R. GARBUS ,  Allen C. THOMPSON ,  Justin KROM

IPC: A61B90/98 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B46/10 ,  A61B17/34 ,  G06K7/08

Abstract: A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.

公开(公告)号：US20210401517A1

公开(公告)日：2021-12-30

申请号：US17469027

申请日：2021-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/35 ,  A61B17/29 ,  A61B90/50 ,  A61B34/00

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

公开(公告)号：US20210401516A1

公开(公告)日：2021-12-30

申请号：US17468241

申请日：2021-09-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B50/13 ,  A61B46/10 ,  A61B90/13 ,  A61B34/37 ,  A61B34/30 ,  A61B50/10

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US20210401508A1

公开(公告)日：2021-12-30

申请号：US17277414

申请日：2019-09-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Energy Cruse, II ,  Vincent Duindam ,  Pechin Chien Pau Lo ,  Jun Ma ,  Oscar G. Salazar ,  Bai Wang ,  Hui Zhang

IPC: A61B34/20 ,  A61B34/00 ,  G06T3/00 ,  A61B6/00 ,  A61B34/10

Abstract: A medical system may comprise a display system, a user input device, a medical instrument, and a manipulator assembly configured to support and operate the medical instrument. The medical system may also comprise a control system. The control system may be configured to display image data corresponding to a three-dimensional anatomical region via the display system, receive a first user input to generate a first curve in the three-dimensional anatomical region via the user input device, and receive a second user input to generate a second curve in the three-dimensional anatomical region via the user input device. The control system may also be configured to determine an anatomical boundary bounded by the first curve and the second curve. The control system may also be configured to control the manipulator assembly to operate medical instrument using the determined anatomical boundary to limit movement of the medical instrument.

公开(公告)号：US11207145B2

公开(公告)日：2021-12-28

申请号：US16317235

申请日：2017-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  S. Christopher Anderson ,  Ladd T. Johnson

IPC: A61B34/00 ,  A61B34/30 ,  A61B17/29 ,  A61B90/00 ,  A61B17/00

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：US20210393351A1

公开(公告)日：2021-12-23

申请号：US17463178

申请日：2021-08-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh ,  Joey Chau

IPC: A61B34/37 ,  A61B34/00 ,  G06F3/048

Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.

公开(公告)号：USD938974S1

公开(公告)日：2021-12-21

申请号：US29667213

申请日：2018-10-19

Applicant: Intuitive Surgical Operations, Inc.

Designer： Bai Wang ,  Scott S. Ichikawa ,  Aaron B. Tinling

公开(公告)号：US20210391070A1

公开(公告)日：2021-12-16

申请号：US17412812

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mahdi Azizian ,  Simon P. DiMaio ,  Jonathan M. Sorger

IPC: G16H40/63 ,  G05B15/02 ,  G06F13/37 ,  A61F2/60 ,  G16H20/30 ,  H04L29/08 ,  G16H20/40 ,  G16H40/67

Abstract: A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.

公开(公告)号：US20210386487A1

公开(公告)日：2021-12-16

申请号：US17412705

申请日：2021-08-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B34/20 ,  A61B1/267 ,  G06T19/00 ,  A61B1/005 ,  A61B1/00 ,  G06T19/20 ,  G06T7/33 ,  A61B5/06 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  G06T7/10 ,  A61B1/05 ,  A61B10/04

Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position into for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.

公开(公告)号：US11197691B2

公开(公告)日：2021-12-14

申请号：US16703721

申请日：2019-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  William J. Park

IPC: A61B17/34 ,  A61B34/30

Abstract: In accordance with aspects of the present invention, a door mechanism is provided. A door mechanism according to some embodiments of the present invention includes a door that includes a sealing part, an arm connected to the sealing part, and a pivot part connected to the arm, the door rotating around a pivot axis at the pivot part; and a lever, the lever engaging the door at the pivot part such that the lever opens the door when engaged but is not affected when the door is opened without the lever.