公开(公告)号：US20140232824A1

公开(公告)日：2014-08-21

申请号：US13768062

申请日：2013-02-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: H04N13/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

Abstract translation: 操作员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看对象，工具和工作现场的实时图像。 工具信息是通过过滤一部分实时图像来增强或降级的，以指示工具的状态并在显示器上显示经滤波的图像。

公开(公告)号：US20130217967A1

公开(公告)日：2013-08-22

申请号：US13848224

申请日：2013-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul W. Mohr ,  David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Salvatore J. Brogna

IPC: A61B18/12 ,  A61B1/00 ,  A61B19/00

CPC classification number: A61B18/12 ,  A61B1/00009 ,  A61B17/320068 ,  A61B18/1206 ,  A61B18/1482 ,  A61B18/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2017/00973

Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

Abstract translation: 公开了一种用于微创手术系统的方法，包括：捕获外科手术部位的相机图像; 生成图形用户界面（GUI），其包括第一侧中的第一着色边界部分和与第一侧相对的第二侧中的第二彩色边框; 并将GUI覆盖在手术部位的捕获的相机图像上，以在外科医生控制台的显示装置上显示。 GUI向用户提供关于第一电外科手术工具和外科手术部位中由捕获的相机图像同时显示的第二工具的信息。 GUI中的第一彩色边界部分指示第一电外科手术由外科医生控制台的第一主把手控制，而第二彩色边界部分指示由外科医生控制台的第二主把手控制的第二工具的工具类型。

公开(公告)号：US12232829B2

公开(公告)日：2025-02-25

申请号：US18485714

申请日：2023-10-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David W. Robinson ,  John W. Zabinski

IPC: B25J9/16 ,  A61B17/00 ,  A61B17/072 ,  A61B17/28 ,  A61B17/29 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, a user interface, and a processor. The processor is configured to actuate the drive system to clamp the material using the end effector and in response to detecting successful clamping of the material, display a timer on the user interface. The timer provides an indication of when conditions will be safe to proceed with stapling of the material clamped by the end effector.

公开(公告)号：US20240325098A1

公开(公告)日：2024-10-03

申请号：US18642545

申请日：2024-04-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  David W. Robinson

IPC: A61B34/35 ,  A61B1/00 ,  A61B1/313 ,  A61B17/00 ,  A61B34/20

CPC classification number: A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B1/00193 ,  A61B2017/00314 ,  A61B2034/2065

Abstract: A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

公开(公告)号：US11806102B2

公开(公告)日：2023-11-07

申请号：US17832319

申请日：2022-06-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. Dimaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: A system may comprise an image capture device to capture an image of a work site. The system may also comprise a processor to determine whether a tool disposed at the work site is energized and determine a first area of the captured image of the work site, including or adjacent to an image of a portion of the tool in the captured image. The processor may also determine a second area of the captured image including a remainder of the captured image that does not include the first area. Conditioned upon determining that the tool is energized, at least one of the first area and the second area of the captured image of the work site may be processed to indicate that the tool in the first area is being energized. The image of the work site with the first area and the second area may be displayed.

公开(公告)号：US20220054187A1

公开(公告)日：2022-02-24

申请号：US17520724

申请日：2021-11-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul W. Mohr ,  David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Salvatore J. Brogna

IPC: A61B18/12 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00

Abstract: Methods for minimally invasive electro-surgical systems are disclosed. One method includes determining if an input device is selected at a control console. If the input device is selected then, providing feedback to a user of the selection of the input device, delaying a first predetermined period of time for the user to receive the feedback, determining if the input device is deselected, and if not deselected, then activating an electrosurgical device to couple energy to tissue. If deselected, the method skips activation of the electrosurgical device. While active, a method includes determining if the input device is deselected, and if so, then deactivating the electrosurgical device, determining if the input device is reselected and if the input device is not reselected, then waiting and determining if a second predetermined period of time has lapsed prior to reselection of the input device and if not, then repeating the reselected determining step.

公开(公告)号：US11026755B2

公开(公告)日：2021-06-08

申请号：US16009014

申请日：2018-06-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David W. Robinson ,  John W. Zabinski

IPC: A61B34/00 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

Abstract: Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

公开(公告)号：US10939969B2

公开(公告)日：2021-03-09

申请号：US16204449

申请日：2018-11-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  David W. Robinson

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35

Abstract: Systems and methods are provided for the elimination/mitigation of vibration arising from a mode transition during robotic operation include a moveable robotic mechanism and a processor configured to control the robotic mechanism. The processor is configured to detect a request for a mode transition, wherein the request for the mode transition designates a new mode that is different than a current mode, determine initial parameters of the robotic mechanism, calculate a smoothing curve, and move the robotic mechanism according to the smoothing curve. The initial parameters include a position and a velocity of the robotic mechanism. The smoothing curve transitions between the current mode and the new mode and is C3 continuous. In some embodiments, to calculate the smoothing curve, the processor is configured to establish a first command position, calculate a step value, and set a second command position based on the first command position and the step value.

公开(公告)号：US20200214776A1

公开(公告)日：2020-07-09

申请号：US16349208

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

IPC: A61B34/35 ,  A61B90/98 ,  A61B34/00

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

公开(公告)号：US10507066B2

公开(公告)日：2019-12-17

申请号：US13768062

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.