公开(公告)号：US10898189B2

公开(公告)日：2021-01-26

申请号：US15772530

申请日：2016-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. McDonald, II

IPC: A61B17/072 ,  A61B17/29 ,  A61B17/00 ,  A61B34/37

Abstract: A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw way from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw toward the second jaw when the cam pin contacts the proximal end portion of the levering cam slot.

公开(公告)号：US20210016061A1

公开(公告)日：2021-01-21

申请号：US16927332

申请日：2020-07-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61M25/01 ,  A61B34/30

Abstract: A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.

公开(公告)号：US20210015572A1

公开(公告)日：2021-01-21

申请号：US17042724

申请日：2019-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  Andrew Cullen Waterbury ,  John Ryan Steger ,  Alain Sadaka

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J5/00

Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.

公开(公告)号：US20210007577A1

公开(公告)日：2021-01-14

申请号：US17034878

申请日：2020-09-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian E. MILLER ,  Joey CHAU ,  Govinda PAYYAVULA

IPC: A61B1/00 ,  A61B1/04 ,  A61B17/00 ,  H04N19/172 ,  H04N19/114 ,  H04N19/137 ,  H04N19/164 ,  A61B34/30

Abstract: A method for performing a surgical procedure includes adjusting an encoding configuration of a video encoder in response to receiving an input associated with a change of state of a surgical system performing the surgical procedure, and encoding image data of the surgical procedure captured after the change of state based on the adjusted encoding configuration.

公开(公告)号：US10881479B2

公开(公告)日：2021-01-05

申请号：US16196610

申请日：2018-11-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/00 ,  G05D1/00 ,  A61B34/30

Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.

公开(公告)号：US10881473B2

公开(公告)日：2021-01-05

申请号：US16862412

申请日：2020-04-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. Dimaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  B25J3/00 ,  B25J9/16 ,  A61B90/10 ,  A61B17/00

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.

公开(公告)号：US20200382921A1

公开(公告)日：2020-12-03

申请号：US16998838

申请日：2020-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC: H04W4/38 ,  H04W88/12 ,  H04W4/80

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

公开(公告)号：US20200379334A1

公开(公告)日：2020-12-03

申请号：US16998056

申请日：2020-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Arthur Louis Berman

IPC: G03B35/10 ,  G03B35/18 ,  G03B17/02 ,  G02B23/24 ,  A61B1/00

Abstract: The technology described herein can be embodied in a stereoscopic endoscope in which the orientation of the two eyes may be determined dynamically as the endoscope is moved and rotated. This may enable an improved user-experience when using an angled stereoscopic endoscope even when it is rotated, for example, to view the sides of a cavity.

公开(公告)号：US20200368915A1

公开(公告)日：2020-11-26

申请号：US16932373

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc

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

IPC: B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  A61B34/00

Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

公开(公告)号：US20200367720A1

公开(公告)日：2020-11-26

申请号：US16991695

申请日：2020-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Jonathan M. Sorger

IPC: A61B1/00 ,  A61B5/02 ,  A61B1/04 ,  A61B5/026 ,  A61B5/00 ,  G06T7/11 ,  G06T7/269 ,  G06T7/00 ,  A61B1/06 ,  A61B1/07 ,  A61B90/00

Abstract: A bleeding detection system may receive, from an image capture system during a surgical procedure, a first frame of data of a scene of a surgical site and identify, based on the first frame, a region of blood in the scene. The system may receive, from the image capture system subsequent to receiving the first frame, a second frame of data of the scene, the second frame including data representative of the region of blood. The system may estimate, based on the first frame and the second frame, motion of blood flow in the region of blood and generate data representative of a combined image comprising the second frame and a visual indicator indicating the motion of blood flow in the region of blood. The system may transmit, during the surgical procedure, the data representative of the combined image to a display unit for display of the combined image.