公开(公告)号：US10028791B2

公开(公告)日：2018-07-24

申请号：US15014513

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: G01B11/24 ,  A61B34/30 ,  G01D5/353 ,  A61B34/00 ,  A61B34/20

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

公开(公告)号：US10022067B2

公开(公告)日：2018-07-17

申请号：US15627099

申请日：2017-06-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/05 ,  A61B5/06 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00 ,  A61M25/01

Abstract: 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.

公开(公告)号：USD822685S1

公开(公告)日：2018-07-10

申请号：US29600991

申请日：2017-04-18

Applicant: Intuitive Surgical Operations, Inc.

Designer： Lauren L. Argo ,  Federico Barbagli ,  Ruchi C. Bhatt ,  Christopher R. Carlson ,  Energy Cruse, II ,  Vincent Duindam ,  Scott S. Ichikawa ,  Aaron B. Tinling ,  Oliver J. Wagner

公开(公告)号：US20170265952A1

公开(公告)日：2017-09-21

申请号：US15329899

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Tao Zhao ,  Federico Barbagli ,  Vincent Duindam ,  Timothy D. Soper

IPC: A61B34/35 ,  A61B90/50 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B90/50 ,  A61B2017/00694 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2057 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/3614 ,  A61B2090/371

Abstract: A method of deploying an interventional instrument comprises identifying a target structure in an anatomic frame of reference. The method further comprises determining a target region in the anatomic frame of reference with respect to a current position of the interventional instrument and recording a first engagement location of the interventional instrument within the target region.

公开(公告)号：US09636040B2

公开(公告)日：2017-05-02

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 ,  A61B10/02 ,  A61B17/34 ,  A61B17/00 ,  A61B10/04 ,  A61B34/10 ,  A61B34/20

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.

公开(公告)号：US20170014194A1

公开(公告)日：2017-01-19

申请号：US15275955

申请日：2016-09-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/20 ,  A61B10/02 ,  A61B5/06

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：US20160287344A1

公开(公告)日：2016-10-06

申请号：US15183936

申请日：2016-06-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Stephen J. Blumenkranz ,  Vincent Duindam

IPC: A61B34/20 ,  A61B34/37

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

Abstract: 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 and including a temperature sensor. 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.

Abstract translation: 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。 该装置还包括形状传感器补偿装置，其在细长轴内延伸并且包括温度传感器。 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。

公开(公告)号：US20160151121A1

公开(公告)日：2016-06-02

申请号：US15014559

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01D5/353 ,  G01B11/24

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/71 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2562/00 ,  G01B11/24 ,  G01D5/35316

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

公开(公告)号：US20150112486A1

公开(公告)日：2015-04-23

申请号：US14560501

申请日：2014-12-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Vincent Duindam

IPC: G01L5/22 ,  B25J18/06

CPC classification number: A61B34/30 ,  A61B34/77 ,  A61B2034/301 ,  B25J9/1689 ,  B25J13/025 ,  B25J18/06 ,  G01L5/226 ,  Y10S901/15 ,  Y10S901/17 ,  Y10S901/46

Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.

Abstract translation: 弯曲传感器用于确定施加到机器人手臂的力。 力可以是施加到臂的外力，内部致动力或两者。 在一些方面，加强元件用于将臂恢复到最小的运动能态。 在其他方面，消除了加强元件，并且臂完全致动。

公开(公告)号：US12245833B2

公开(公告)日：2025-03-11

申请号：US18521863

申请日：2023-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Timothy D. Soper ,  Vincent Duindam

IPC: A61B34/10 ,  A61B1/00 ,  A61B34/20 ,  A61B34/37 ,  G06F30/23 ,  G06T3/14 ,  G06T7/33 ,  G06T17/20

Abstract: A method includes collecting a set of measured points with a flexible catheter as the flexible catheter is inserted into one or more anatomic passageways of a patient in which the measured points are based on a position of the flexible catheter in a patient space, assigning each measured point of the set of measured points to a respective subset of a plurality of subsets of measured points based upon a depth of each measured point within the one or more anatomic passageways, comparing the plurality of subsets to identify an optimal subset of the plurality of subsets, and registering a model of the one or more anatomic passageways to the patient space based on a set of model points of the model and the optimal subset.