公开(公告)号：US11007024B2

公开(公告)日：2021-05-18

申请号：US16317214

申请日：2017-06-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  Thomas G. Cooper

IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/29

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

公开(公告)号：US10993775B2

公开(公告)日：2021-05-04

申请号：US16890555

申请日：2020-06-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Robert E. Holop

IPC: A61B34/30 ,  A61B17/00

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20210122067A1

公开(公告)日：2021-04-29

申请号：US17140420

申请日：2021-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David ROBINSON ,  Matthew R. CAVALIER ,  Gregory W. DACHS ,  Michael HANUSCHIK ,  Jason JIANG ,  Paul W. MOHR ,  Bruce M. SCHENA ,  Mark W. ZIMMER

IPC: B25J19/00 ,  A61B50/13 ,  A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  B25J5/00

Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.

公开(公告)号：US20210121164A1

公开(公告)日：2021-04-29

申请号：US17142087

申请日：2021-01-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gabriel F. Brisson ,  Gregory W. Dachs, II ,  Niels Smaby ,  Melody Wu

IPC: A61B17/00 ,  A61B34/35

Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.

公开(公告)号：US20210113284A1

公开(公告)日：2021-04-22

申请号：US17133877

申请日：2020-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

公开(公告)号：US10983268B2

公开(公告)日：2021-04-20

申请号：US16709341

申请日：2019-12-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Dawn K. Gifford ,  Jeffrey T. LaCroix ,  Patrick Roye ,  Alexander K. Sang

IPC: G02B6/02 ,  G01D5/353 ,  G01B11/16 ,  G01B21/04

Abstract: An optical fiber includes multiple optical cores configured in the fiber including a set of primary cores and an auxiliary core. An interferometric measurement system uses measurements from the multiple primary cores to predict a response from the auxiliary core. The predicted auxiliary core response is compared with the actual auxiliary core response to determine if they differ by more than a predetermined amount, in which case the measurements from the multiple primary cores may be deemed unreliable.

公开(公告)号：US20210106289A1

公开(公告)日：2021-04-15

申请号：US17127888

申请日：2020-12-18

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

公开(公告)号：US10976155B2

公开(公告)日：2021-04-13

申请号：US16333752

申请日：2017-08-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mark Froggatt ,  Eric Sanborn ,  Alexander K. Sang

IPC: G01B11/16 ,  G02B6/02 ,  G02B27/30 ,  G01B9/02 ,  G01D5/353 ,  G02B5/04 ,  G02B27/28 ,  G02B6/27

Abstract: Example embodiments include an optical assembly for an optical interrogation system having a single core or a multicore sensing fiber, a measurement fiber to couple light into the sensing fiber, and a reference fiber arranged with the measurement fiber as part of an optical interferometer. A beam splitter combines light from the sensing fiber and with light from the reference fiber. A polarization beam splitting prism separates the combined light into first polarized light and second polarized light that is orthogonal to the first polarized light. The optical assembly can substantially reduce the size, complexity, or cost associated with the traditional optical components in an optical interrogation system that it replaces. Other example optical assemblies are described. Embodiments describe optical interrogation systems using the example optical assemblies.

公开(公告)号：US10965933B2

公开(公告)日：2021-03-30

申请号：US16547869

申请日：2019-08-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony Michael Jarc

IPC: H04N13/383 ,  A61B34/30 ,  A61B3/113 ,  G02B27/00 ,  A61B34/00 ,  H04N13/239 ,  G02B21/00 ,  G02B27/01 ,  G02B30/35 ,  H04N13/243 ,  A61B3/00 ,  A61B5/00 ,  G02B21/22 ,  G02B30/34

Abstract: A teleoperational medical system comprises an eye tracking system, which includes: an image display comprising a first coordinate frame configured to display an image of a surgical field comprising a second coordinate frame to a user in a third coordinate frame; at least one right eye tracker configured to measure data about a first gaze point of a right eye of the user; at least one left eye tracker configured to measure data about a second gaze point of a left eye of the user; and at least one processor configured to process the data about the first and second gaze points to determine a viewing location in the displayed image at which the first and second gaze points are directed. The medical system further comprises a control unit configured to control at least one function of the medical system based upon the determined viewing location.

公开(公告)号：US10959607B2

公开(公告)日：2021-03-30

申请号：US15660673

申请日：2017-07-26

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 ,  A61B1/018 ,  A61B34/20 ,  A61B17/29 ,  A61B17/00 ,  A61B17/34

Abstract: An apparatus comprises a flexible entry guide tube comprising one or more lumens, wherein at least one lumen is an instrument lumen; and a rigidizing cable to lock a shape of the guide tube within a body cavity with a distal end of the guide tube near a medical site. The rigidizing cable can steer the guide tube. The apparatus comprises a flexible tool insertable into the instrument lumen. The tool can perform a medical procedure near the distal end of the guide tube. The tool comprises an end effector, a steerable tip portion, and a steering cable for steering the tip portion. While the tip portion remains within the instrument lumen, articulation of the tip portion causes corresponding articulation of a distal portion of the guide tube. The tool can extend away from the distal end while the shape of the guide tube is locked by the rigidizing cable.