公开(公告)号：US11439472B2

公开(公告)日：2022-09-13

申请号：US16847267

申请日：2020-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Gregory K. Toth ,  Thomas R. Nixon

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37 ,  A61B90/00

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US20220175475A1

公开(公告)日：2022-06-09

申请号：US17677866

申请日：2022-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC: A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.

公开(公告)号：US20210177299A1

公开(公告)日：2021-06-17

申请号：US17100516

申请日：2020-11-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Vincent Duindam

IPC: A61B5/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B1/05 ,  A61B1/273

Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

公开(公告)号：US20210085301A1

公开(公告)日：2021-03-25

申请号：US17111667

申请日：2020-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

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

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

公开(公告)号：US20210022768A1

公开(公告)日：2021-01-28

申请号：US17071643

申请日：2020-10-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Daniel H. Gomez ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B34/30 ,  A61B90/11

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.

公开(公告)号：US10888306B2

公开(公告)日：2021-01-12

申请号：US16414690

申请日：2019-05-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

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

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.

公开(公告)号：US10792107B2

公开(公告)日：2020-10-06

申请号：US15371158

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US10772690B2

公开(公告)日：2020-09-15

申请号：US16026673

申请日：2018-07-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco

IPC: A61B34/30 ,  B25J9/10 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00 ,  A61B34/20

Abstract: A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a capstan coupling member that can engage with a drive shaft coupling member such that rotation of the drive shaft causes rotation of the capstan about a drive axis concentric with the drive shaft, and can disengage from the drive shaft coupling member such that rotation of the drive shaft does not cause rotation of the capstan.

公开(公告)号：US10744303B2

公开(公告)日：2020-08-18

申请号：US16283039

申请日：2019-02-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B1/00 ,  A61M25/01 ,  A61B34/30 ,  A61B34/20 ,  A61B18/24

Abstract: A medical system comprises a catheter containing a mechanical system that is remotely operable to control a distal tip of the catheter. The medical system also comprises a sensor configured to at least partly measure a pose of the distal tip and a control system coupled to the mechanical system. The control system includes a memory operable to store parameters of a working configuration of the distal tip of the catheter and a plurality of operating modes including a holding mode in which the control system operates the mechanical system to actively maintain the working configuration of the distal tip based on feedback from the sensor. The control system also includes a plurality of modules. During activation of the holding mode, the plurality of modules is configured to sense a current pose of the distal tip and determine a difference between the current pose and the working configuration. The difference is due to an external disturbance. Without user input, the plurality of modules is also configured to operate the mechanical system to move the catheter to minimize the difference between the current pose and the working configuration.

公开(公告)号：US20200254223A1

公开(公告)日：2020-08-13

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01

Abstract: A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred.