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公开(公告)号：US11141232B2
公开(公告)日：2021-10-12
申请号：US16368302
申请日：2019-03-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
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公开(公告)号：US20210298789A1
公开(公告)日：2021-09-30
申请号：US17345768
申请日：2021-06-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christian S. Eversull , Stephen A. Leeflang , Nicholas J. Mourlas
IPC: A61B17/34 , A61B1/00 , A61B1/005 , A61B1/313 , A61N1/05 , A61B1/018 , A61B1/05 , A61B17/00 , A61M25/09
Abstract: A steerable catheter system comprises an elongate catheter body including a distal end and a proximal end. The system also comprises a control mechanism coupled to the proximal end of the elongate catheter body. The control mechanism includes a rotatable steering control element configured to articulate the distal end of the elongate catheter body. The system also includes a lumen extending through the elongate catheter body and the control mechanism and terminating at the distal end of the elongate catheter body. The system also includes a valve coupled to the lumen. The valve is configured to couple a fluid delivery system to the lumen and to enable delivery of an instrument into the lumen.
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公开(公告)号：US11129687B2
公开(公告)日：2021-09-28
申请号：US16068375
申请日：2016-12-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Jeffrey R. Roeder , William J. Park
Abstract: A sheath for a surgical instrument may include a sleeve having a distal end and proximal end, and a retention mechanism at a proximal end portion of the sleeve. The retention mechanism may comprise a sleeve attachment portion configured to be attached to the sleeve at the proximal end portion, and a locking collar extending from the sleeve attachment portion, wherein the locking collar is configured to receive a connector portion of a surgical instrument. The locking collar further may include a locking feature movable between a first configuration, in which the sheath is moveable relative to the surgical instrument, and a second configuration, in which the locking feature is configured to engage with the connector portion to retain the sheath in position on the surgical instrument.
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公开(公告)号：US11118661B2
公开(公告)日：2021-09-14
申请号：US16271251
申请日：2019-02-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan C. Abbott
Abstract: A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.
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公开(公告)号：US11116578B2
公开(公告)日：2021-09-14
申请号：US15371154
申请日：2016-12-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
IPC: A61B34/20 , A61B5/06 , A61B34/30 , A61B90/00 , A61B34/37 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/10 , A61B5/00
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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Patent Agency Ranking
公开(公告)号：US20210268233A1
公开(公告)日：2021-09-02
申请号：US17254122
申请日：2019-06-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Joseph D. BOGUSKY , Randall L. SCHLESINGER
IPC: A61M25/01
Abstract: Disclosed herein are a range of stiffening mechanisms or systems that assist or enable holding a pose or shape of a flexible body (1010, 216, 410, 420, 801). These stiffening mechanisms may be part of the steering mechanism (500, 800), may be separately actuated and/or may themselves also enable steering of the flexible elongate device (400). Further, the stiffening mechanisms may use information from sensor (826) systems, such as a shape sensor (222, 314, 426) in the form of an optical fiber, a plurality of EM sensors (426, 826) distributed along the length of a flexible device, and/or navigation systems, such as a sensor system (108) that computes the approximate location of medical instruments (such as a flexible body) within the anatomy of the patient and/or medical tools that are delivered through a main lumen (411, 811) of the flexible body (1010, 216, 410, 420, 801), to inform a control system (112, 116) which then controls formation and holding of a shape of the flexible body (1010, 216, 410, 420, 801).
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公开(公告)号：US20210267695A1
公开(公告)日：2021-09-02
申请号：US17258705
申请日：2019-07-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew J. HAZELTON , Teresa G. GADDA , Changmeng LIU
Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.
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公开(公告)号：US20210259795A1
公开(公告)日：2021-08-26
申请号：US17179670
申请日：2021-02-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul J. FLOYD , Rosemary COLE , Christina J. SHUH , Ralph WADENSWEILER , Mark PALMER
Abstract: According to an exemplary aspect, a tool for installing and/or removing a protective cover of an instrument includes a body portion having an open end and a closed end. The open end defines an interior passage that extends into the body portion along a longitudinal axis of the body portion toward the closed end of the body portion. The interior passage is configured to receive at least a portion of the protective cover in the interior passage. One or more members are connected to the body portion, and each of the one or more members includes a free end movable relative to the body portion. Systems and methods relate to tools for installing and/or removing protective covers of instruments.
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公开(公告)号：US20210259783A1
公开(公告)日：2021-08-26
申请号：US17253743
申请日：2019-06-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Teresa G. Gadda , Troy K Adebar , Vincent Duindam , Timothy D. Soper
Abstract: A system includes one or more processors configured to read instructions to cause the system to perform operations including accessing a set of model points of a model of an anatomic structure of a patient. The model points is associated with a model space. The operations further include collecting a set of measured points of the anatomic structure of the patient, the measured points being associated with a patient space, determining a set of matches between the set of model points and the set of measured points, determining a first plurality of weights for the set of matches, and registering the set of model points to the set of measured points based on the first plurality of weights to generate a first registration.
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370.发明授权公开(公告)号：US11098803B2
公开(公告)日：2021-08-24
申请号：US16263996
申请日：2019-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Grant Duque , Todd Murphy , William Burbank , Gregory W. Dachs, II
Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.
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