公开(公告)号：US20240065779A1

公开(公告)日：2024-02-29

申请号：US18491494

申请日：2023-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B17/00 ,  A61B34/00 ,  A61B34/32 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2034/2061 ,  A61B2034/301

Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

公开(公告)号：US11832891B2

公开(公告)日：2023-12-05

申请号：US16306418

申请日：2017-06-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B34/32 ,  A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2017/00075 ,  A61B2017/00119 ,  A61B2017/00809 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2560/0276

Abstract: A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.

公开(公告)号：US20210378763A1

公开(公告)日：2021-12-09

申请号：US17407634

申请日：2021-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Bailey ,  Federico Barbagli ,  Reuben D. Brewer ,  Christopher R. Carlson ,  Vincent Duindam ,  Tania K. Morimoto ,  Michael D. Paris ,  Oliver J. Wagner

IPC: A61B34/00 ,  A61B34/35 ,  A61B46/10

Abstract: A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.

公开(公告)号：US11033296B2

公开(公告)日：2021-06-15

申请号：US15505855

申请日：2015-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher R. Carlson ,  Randall L. Schlesinger ,  Federico Barbagli

IPC: A61B17/34 ,  A61B5/06 ,  A61B5/053 ,  A61B10/02 ,  A61B10/04 ,  A61B34/30 ,  A61B90/00 ,  A61B5/0538 ,  A61B10/06

Abstract: A biopsy system includes a biopsy tool and a control system in communication with the biopsy tool. The control system is configured to receive a command to perform a biopsy, retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, and control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy. The predefined dynamic trajectory includes a plurality of dynamic control modes. Each of the plurality of dynamic control modes has a different displacement profile. At least one different displacement profile comprises a cyclic displacement profile.

公开(公告)号：US10548679B2

公开(公告)日：2020-02-04

申请号：US15505452

申请日：2015-08-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B34/10 ,  A61B34/20

Abstract: A method of controlling a movement of a medical instrument comprises receiving an input instruction from an operator input device movement and determining a control factor based on the input instruction. The method also comprises receiving a motion scaling parameter determined from the control factor and mapping the input instruction to an output instruction for a medical instrument movement. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction. The method also includes moving the medical instrument according to the output instruction.

公开(公告)号：US20200008678A1

公开(公告)日：2020-01-09

申请号：US16491023

申请日：2018-03-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B10/04 ,  A61B34/37

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

公开(公告)号：US20170281139A1

公开(公告)日：2017-10-05

申请号：US15505865

申请日：2015-08-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B10/04 ,  A61B90/00 ,  A61B34/20 ,  A61B1/01 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00 ,  A61B10/06 ,  A61B34/35

CPC classification number: A61B10/04 ,  A61B1/01 ,  A61B10/0233 ,  A61B10/06 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B90/37 ,  A61B2010/045 ,  A61B2017/00203 ,  A61B2017/00207 ,  A61B2017/003 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/256 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/364

Abstract: A method comprises displaying an image of a patient anatomy for guiding a medical instrument to a deployment location during a medical procedure. The method further comprises recording a first sample identifier for a first tissue sample. The method also comprises receiving first tissue sample pathology information about the first tissue sample. The method also comprises displaying the first sample identifier with the first tissue sample pathology information during the medical procedure.

公开(公告)号：US20250017469A1

公开(公告)日：2025-01-16

申请号：US18902298

申请日：2024-09-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson

IPC: A61B5/00 ,  A61B10/04 ,  A61B17/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61M25/01

Abstract: A system for performing a minimally invasive procedure comprises a flexible catheter with a lumen extending therethrough. The system also comprises an elongate instrument sized for passage through the lumen and an optical coherence tomographic sensor coupled to the elongate instrument. The system also comprises a control system that includes one or more processors. The control system is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, generate an output signal based on the profiled tissue, and based on receipt of the output signal, generate a command to indicate or affect movement of the elongate instrument.

公开(公告)号：US12186031B2

公开(公告)日：2025-01-07

申请号：US18349025

申请日：2023-07-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Lauren L. Argo ,  Cristian Bianchi ,  Christopher R. Carlson ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/10 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30

Abstract: A system and method of monitoring a procedure includes a medical device. The medical device includes an elongate device including a flexible body, a tracking system disposed along at least a portion of the flexible body, and one or more processors communicatively coupled to the tracking system. The one or more processors are configured to receive a route to a target location in an anatomy, determine one or more features of the route based on a first anatomical representation, generate a reduced anatomical representation based on the one or more features of the route, receive real-time position information from the tracking system, associate the real-time position information to the reduced anatomical representation, and dynamically display the reduced anatomical representation with the associated real-time position information.

公开(公告)号：US20240374334A1

公开(公告)日：2024-11-14

申请号：US18780992

申请日：2024-07-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B5/107 ,  A61B17/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

Abstract: A method of using a control system for controlling a medical instrument within a patient anatomy comprises localizing the medical instrument relative to the patient anatomy and identifying an environmental factor for the localized medical instrument. The method also comprises receiving a motion scaling parameter determined from the environmental factor and receiving an input instruction from an operator input device movement in an operator frame. The method also comprises mapping the input instruction to an output instruction for a medical instrument movement in an anatomical frame. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction.