公开(公告)号：US20210204920A1

公开(公告)日：2021-07-08

申请号：US17096514

申请日：2020-11-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Lucas S. Gordon

IPC: A61B10/02 ,  A61B10/04 ,  A61B34/20

Abstract: A medical device comprises an elongate sheath comprising a distal portion and a proximal portion and defining a first lumen. The medical device further comprises an elongate instrument slidably disposed at least partially within the first lumen. The elongate instrument comprises a rigid distal section defining a second lumen. The medical device further comprises a first extension member coupled to a proximal end of the elongate instrument and a second extension member coupled to a proximal end of the elongate sheath. The second extension member is configured to at least partially receive the elongate instrument. The medical device further comprises a holding mechanism coupled to the second extension member. The holding mechanism includes a protrusion configured to maintain the elongate instrument in a rotationally fixed position relative to the distal portion of the elongate sheath.

公开(公告)号：US20210186634A1

公开(公告)日：2021-06-24

申请号：US17137342

申请日：2020-12-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Chi Zhang

IPC: A61B34/35 ,  A61B34/10 ,  A61B34/37 ,  G16H50/50 ,  A61B34/00 ,  G16H20/30 ,  G16H40/67 ,  G09B23/28 ,  A61B90/00 ,  G09B23/30

Abstract: Systems, methods, and tangibly-implemented software instructions for supporting a teleoperated surgical system (TSS). A surgical input that includes monitored events of the TSS, is received. A current stage of the surgical procedure is autonomously determined based on the surgical input. A call for surgeon assistance may be detected, in response to which context-relevant assistance may be provided to a surgeon console of the TSS, the context-relevant assistance being stage-synchronized with the surgical procedure.

公开(公告)号：US20210186544A1

公开(公告)日：2021-06-24

申请号：US17190899

申请日：2021-03-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher ANDERSON ,  Thomas G. COOPER

IPC: A61B17/28 ,  A61B34/00 ,  A61B34/30

Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.

公开(公告)号：US11039829B2

公开(公告)日：2021-06-22

申请号：US16289685

申请日：2019-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John C. Meade

IPC: A61B17/04 ,  A61B17/06 ,  A61B17/062 ,  A61B17/29 ,  A61B90/00 ,  A61B17/00 ,  A61B90/70

Abstract: An apparatus and method for minimally invasive suturing is disclosed. A suturing device for minimally invasive suturing includes proximal section having a proximal end, a distal end, and a longitudinal axis therebetween; a suture head assembly extending from the distal end of the proximal section; a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis approximately perpendicular to a longitudinal axis of the proximal section, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to and after rotation of the suturing needle; and an actuator extending from the proximal end of the proximal section to actuate a drive mechanism having a needle driver for engaging and rotating the suturing needle.

公开(公告)号：US20210183025A1

公开(公告)日：2021-06-17

申请号：US17270316

申请日：2019-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jason Paul Watson

IPC: G06T5/00 ,  G06T7/00 ,  A61B1/00

Abstract: Systems and methods of presenting an image of a portion of a surgical scene on a display device associated with an endoscope include receiving, from the endoscope, a source image representing a view of the surgical scene as captured using the endoscope. The systems and methods further include devices configured to, by one or more processing devices, apply a distortion correction to at least a portion of the source image to generate a modified image, wherein the modified image includes a central region, and a peripheral region surrounding the central region, wherein a first degree of distortion correction in the central region is higher than a second degree of distortion correction in the peripheral region. The systems and methods further include devices configured to present the modified image on the display device associated with the endoscope.

公开(公告)号：US20210177535A1

公开(公告)日：2021-06-17

申请号：US17186391

申请日：2021-02-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel N. Miller ,  Dinesh Rabindran ,  Kollin M. Tierling

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08 ,  B25J15/00

Abstract: A system comprises a robotic manipulator for control of motion of a medical tool. The robotic manipulator including a joint and a link connected to the joint. The link is configured to connect to the medical tool. A processing unit of the system is configured to receive first data from an encoder of the joint. A first tool tip estimate of a first parameter of a tool tip coupled at a distal end of the medical tool is generated using the first data. The first parameter of the tool tip is a position or a velocity of the tool tip. Second data is received from a sensor system located at a sensor portion of the link or the medical tool. The joint is controlled based on a first difference between the first tool tip estimate and a second tool tip estimate generated using the first and second data.

公开(公告)号：US20210177534A1

公开(公告)日：2021-06-17

申请号：US17186279

申请日：2021-02-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William J. PARK

IPC: A61B34/30 ,  A61B17/00

Abstract: A surgical instrument includes a reusable instrument portion and a disposable tip assembly. The disposable tip assembly includes an end effector assembly that in turn includes an end effector. The disposable tip assembly also includes a locking tip cover that locks the disposable tip assembly to a lock interface element of a tip interface of the reusable instrument portion. To facilitate mounting the disposable tip assembly on the tip interface of the reusable instrument portion, the disposable tip assembly includes a first quick connect/disconnect element and the tip interface includes a second quick connect/disconnect element. The second quick connect/disconnect element is coupled to a tendon. The tendon is also coupled to an actuator assembly that provides forces that push and pull (push/pull) the tendon.

公开(公告)号：USD922562S1

公开(公告)日：2021-06-15

申请号：US29581072

申请日：2016-10-14

Applicant: Intuitive Surgical Operations, Inc.

Designer： Timothy B. Hulford ,  Robert B. Hubler ,  Elie Eyram Ahovi ,  Craig Tsuji ,  Edward P. Donlon

公开(公告)号：US11035699B2

公开(公告)日：2021-06-15

申请号：US16474531

申请日：2017-12-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Dawn K. Gifford ,  Eric E. Sanborn ,  Alexander K. Sang

IPC: G01D5/353 ,  G02B6/02 ,  G01J1/04

Abstract: Example embodiments include an optical interrogation system with a sensing fiber having a single core, the single core having multiple light propagating modes. Interferometric apparatus probes the single core multimode sensing fiber over a range of predetermined wavelengths and detects measurement interferometric data associated with the multiple light propagating modes of the single core for each predetermined wavelength in the range. Data processing circuitry processes the measurement interferometric data associated with the multiple light propagating modes of the single core to determine one or more shape-sensing parameters of the sensing fiber from which the shape of the fiber in three dimensions can be determined.

公开(公告)号：US11033716B2

公开(公告)日：2021-06-15

申请号：US15542850

申请日：2016-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randall L. Schlesinger

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

Abstract: A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element, a steerable tube, and a pull wire assembly. The anchoring element comprises a hollow tube having a first outer diameter. The pull wire assembly comprising a pull wire having a proximal end and a distal end and a securing element coupled to the distal end. A portion of the pull wire is disposed within a groove having an open cross-sectional shape extending along a length of the steerable tube. The securing element includes a second outer diameter sized smaller than the first outer diameter. The securing element is coupled to the anchoring element to prevent proximal translation of the distal end of the pull wire along a longitudinal axis of the medical instrument past the anchoring element. A proximal end of the securing element is disposed distal to a distal end of the steerable tube.