公开(公告)号：US20130204124A1

公开(公告)日：2013-08-08

申请号：US13751462

申请日：2013-01-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  Simon P. DiMaio ,  Dorin Panescu

IPC: A61B5/06 ,  A61B17/3209

CPC classification number: A61B5/065 ,  A61B5/062 ,  A61B10/0233 ,  A61B17/3209 ,  A61B17/3403 ,  A61B17/3468 ,  A61B34/20 ,  A61B2010/045 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061

Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。

公开(公告)号：US12201388B2

公开(公告)日：2025-01-21

申请号：US17698848

申请日：2022-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David S. Mintz ,  Tracey Ann Morely ,  Theordore C. Walker ,  David Q. Larkin ,  Michael L. Hanuschik

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  B25J3/04 ,  B25J9/00 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

公开(公告)号：US12114936B2

公开(公告)日：2024-10-15

申请号：US17576696

申请日：2022-01-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/20 ,  A61B5/06 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2090/0818

Abstract: A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

公开(公告)号：US20240296608A1

公开(公告)日：2024-09-05

申请号：US18437072

申请日：2024-02-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40

CPC classification number: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G06T11/40 ,  A61B34/20 ,  A61B2034/2061 ,  A61B34/25 ,  A61B90/361 ,  A61B2090/371 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  Y02P90/02

Abstract: A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

公开(公告)号：US20230309793A1

公开(公告)日：2023-10-05

申请号：US18302715

申请日：2023-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

CPC classification number: A61B1/00087 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0051 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: A surgical system comprises a manipulator arm and a surgical instrument. The surgical instrument includes: a transmission mechanism including a plurality of interface members; and an elongate body extending from the transmission mechanism. The surgical system further includes an instrument mounting structure mounted to the manipulator arm. The transmission mechanism of the surgical instrument is removably couplable to the instrument mounting structure. The instrument mounting structure includes a plurality of actuator members and a passage defined within the instrument mounting structure. When the surgical instrument is coupled to the instrument mounting structure: the plurality of interface members mate with the plurality of actuator members; and the elongate body of the surgical instrument extends between at least some of the plurality of actuator members and through the passage.

公开(公告)号：US11672606B2

公开(公告)日：2023-06-13

申请号：US16396125

申请日：2019-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B1/00 ,  A61B34/30 ,  A61B90/00 ,  A61B5/06 ,  A61B34/37 ,  A61B1/04 ,  A61B1/313 ,  A61B34/10 ,  A61B5/00

CPC classification number: A61B34/20 ,  A61B1/00193 ,  A61B1/00194 ,  A61B1/04 ,  A61B1/3132 ,  A61B5/06 ,  A61B5/061 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B5/062 ,  A61B5/725 ,  A61B90/361 ,  A61B90/39 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/0818 ,  A61B2090/364

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.

公开(公告)号：US11659978B2

公开(公告)日：2023-05-30

申请号：US16503197

申请日：2019-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B1/005 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

CPC classification number: A61B1/00087 ,  A61B1/002 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B1/0055 ,  A61B90/361 ,  A61B2017/0034 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.

公开(公告)号：US11517379B2

公开(公告)日：2022-12-06

申请号：US16575095

申请日：2019-09-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul A. Millman ,  David W. Bailey ,  Dean F. Hoornaert ,  David Q. Larkin ,  David S. Mintz

IPC: A61B34/30 ,  A61M13/00 ,  A61B34/00 ,  A61B34/37 ,  A61M1/00 ,  A61M39/24 ,  A61B90/50 ,  A61B17/00

Abstract: A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.

公开(公告)号：US11116590B2

公开(公告)日：2021-09-14

申请号：US16139451

申请日：2018-09-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: A61B34/30 ,  B25J9/16 ,  G01L5/22 ,  B25J18/06 ,  A61B34/00 ,  B25J13/02

Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.

公开(公告)号：US20210228063A1

公开(公告)日：2021-07-29

申请号：US17190936

申请日：2021-03-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  David Q. Larkin

IPC: A61B1/005 ,  A61B1/01 ,  A61B1/008 ,  A61B1/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

Abstract: An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.