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    SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT
    33.
    发明申请
    SYSTEMS AND METHODS FOR CONFIGURING COMPONENTS IN A MINIMALLY INVASIVE INSTRUMENT 审中-公开

    公开(公告)号：US20200163581A1

    公开(公告)日：2020-05-28

    申请号：US16752064

    申请日：2020-01-24

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Anoop B. Kowshik ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Carolyn M. Fenech

    IPC分类号： A61B5/06 ,  A61B34/20

    摘要： A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.

    Catheter Sensor Systems
    35.
    发明申请
    Catheter Sensor Systems 审中-公开
    导管传感器系统

    公开(公告)号：US20160302873A1

    公开(公告)日：2016-10-20

    申请号：US15193524

    申请日：2016-06-27

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Caitlin Q. Donhowe ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC分类号： A61B34/20 ,  A61M25/01 ,  A61B5/06

    CPC分类号： A61B34/20 ,  A61B5/062 ,  A61B34/10 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/302 ,  A61M25/0127 ,  A61M25/0147

    摘要： A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first section. The first section between the proximal and distal ends flexibly couples the first and second electromagnetic sensors so that the first electromagnetic sensor is movable with respect to the second electromagnetic sensor. The system also includes a third electromagnetic sensor positioned on the imaging probe and a fiber shape sensor system that extends through the first section between the proximal and distal ends and along the first electromagnetic sensor and the second electromagnetic sensor.

    摘要翻译： 医疗系统包括具有延伸穿过第一和第二部分的第一部分，第二部分和主管腔的导管。 该系统还包括尺寸适于延伸穿过导管的主腔的成像探针。 该系统还包括沿着第一部分的近端处的纵向传感器轴线延伸的第一电磁传感器和在第一部分的远端沿着纵向传感器轴线延伸的第二电磁传感器。 近端和远端之间的第一部分柔性地联接第一和第二电磁传感器，使得第一电磁传感器可相对于第二电磁传感器移动。 该系统还包括位于成像探针上的第三电磁传感器和在近端和远端之间以及沿第一电磁传感器和第二电磁传感器延伸穿过第一部分的纤维形状传感器系统。

    Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope
    36.
    发明授权
    Method and system for automatically maintaining an operator selected roll orientation at a distal tip of a robotic endoscope 有权
    用于在机器人内窥镜的远端处自动维持操作者所选择的卷取向的方法和系统

    公开(公告)号：US09039608B2

    公开(公告)日：2015-05-26

    申请号：US14162449

    申请日：2014-01-23

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Caitlin Q. Donhowe ,  Giuseppe Maria Prisco

    IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B5/06 ,  A61B19/00

    CPC分类号： A61B1/0055 ,  A61B1/00147 ,  A61B1/0051 ,  A61B5/065 ,  A61B2034/2061

    摘要： In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.

    摘要翻译： 在机器人内窥镜系统中，在机器人内窥镜的远端的被捕获的摄像机视图的方向被显示在由内窥镜的操作者可视的屏幕上被自动地保持在与设定点相关的卷取向，以便不会使 当内窥镜被移动，弯曲并且其尖端以不同的方向转动时。 处理器从操作员输入产生尖端的当前命令状态并对其进行修改以保持设定点滚动方向。 为了产生修改的电流指令状态，当前指令的滚动位置和速度被限制为根据由尖端的先前处理周期指令状态指示的滚动角度调整而修改的修改的电流指令滚动位置和速度，并且 设定点。 然后处理器命令机器人内窥镜被驱动到修改的命令状态。

    Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors
    38.
    发明申请
    Systems and Methods for Reducing Measurement Error in Optical Fiber Shape Sensors 有权
    减少光纤形状传感器测量误差的系统和方法

    公开(公告)号：US20130345719A1

    公开(公告)日：2013-12-26

    申请号：US13925965

    申请日：2013-06-25

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Caitlin Q. Donhowe ,  Stephen J. Blumenkranz ,  Vincent Duindam

    IPC分类号： G02B6/00 ,  A61B19/00

    CPC分类号： A61B34/20 ,  A61B1/00165 ,  A61B1/00167 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B2018/00791 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/3614 ,  G02B6/00

    摘要： A shape sensing apparatus comprises an instrument including an elongated shaft with a neutral axis. The shape sensor also includes a first shape sensor with an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also includes a shape sensor compensation device extending within the elongated shaft. The apparatus also comprises a tracking system for receiving shape data from the first shape sensor and compensating data from the shape sensor compensation device for use in calculating a bend measurement for the instrument.

    摘要翻译： 一种形状检测装置包括一个包括具有中性轴的细长轴的仪器。 形状传感器还包括具有细长光纤的第一形状传感器，所述细长光纤在细长轴内在离中性轴线的第一径向距离处延伸。 该装置还包括在细长轴内延伸的形状传感器补偿装置。 该装置还包括跟踪系统，用于从第一形状传感器接收形状数据，并补偿来自形状传感器补偿装置的数据，以用于计算仪器的弯曲测量。