公开(公告)号：US20200367719A1

公开(公告)日：2020-11-26

申请号：US16991238

申请日：2020-08-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel Kwok Wai Au

IPC: A61B1/00 ,  A61B5/06 ,  A61B1/005 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61M25/00

Abstract: A method for determining the force applied to a tip of a medical instrument includes receiving inputs from a medical instrument having at least one elongated actuation element used to manipulate a position of the instrument while in a patient's body. The method also includes applying the inputs to a lumped model of the instrument and determining a force on a tip of the instrument based on both the inputs and the lumped model.

公开(公告)号：US10828774B2

公开(公告)日：2020-11-10

申请号：US16698110

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Paul E. Lilagan

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

Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.

公开(公告)号：US10823627B2

公开(公告)日：2020-11-03

申请号：US16342524

申请日：2017-10-20

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G01L1/24 ,  G01B11/16 ,  G01M11/08 ,  G02B6/02

Abstract: Shape sensing with a multi-core fiber can achieve high accuracy as well as accommodate small bend radii by measuring signals with peripheral waveguide cores placed at multiple different radial distances from the center axis of the fiber, and computing strain metrics from signals of cores selected based on the respective radial distances and a determination of whether the waveguide cores have strained out of range.

公开(公告)号：US10806531B2

公开(公告)日：2020-10-20

申请号：US15580785

申请日：2016-06-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Julie L. Berry ,  Joseph M. Arsanious ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B18/14 ,  A61B34/00 ,  A61B34/37 ,  G16H40/67 ,  A61B17/32 ,  A61B18/16 ,  A61B18/20 ,  A61B18/00 ,  A61N1/36

Abstract: A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.

公开(公告)号：US10799306B2

公开(公告)日：2020-10-13

申请号：US15774848

申请日：2016-11-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Robinson ,  Gabriel F. Brisson ,  Amir Chaghajerdi ,  Pushkar Hingwe ,  Donald F. Wilson, Jr.

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B17/29

Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

公开(公告)号：US20200318951A1

公开(公告)日：2020-10-08

申请号：US16908414

申请日：2020-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Justin W. Klein ,  Dawn K. Gifford ,  Stephen T. Kreger

IPC: G01B11/24 ,  G01B11/16 ,  G01L1/24 ,  G01M11/00

Abstract: A multi-core fiber includes multiple optical cores, and for each different core of a set of different cores of the multiple optical cores, a total change in optical length is detected. The total change in optical length represents an accumulation of all changes in optical length for multiple segments of that different core up to a point on the multi-core fiber. A difference is determined between the total changes in optical length for cores of the set of different cores. A twist parameter and/or a bend angle associated with the multi-core fiber at the point on the multi-core fiber is/are determined based on the difference.

公开(公告)号：US10792115B2

公开(公告)日：2020-10-06

申请号：US15782449

申请日：2017-10-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew Aaron Wixey ,  Nicholas H. Ragosta

IPC: A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30 ,  A61B17/29 ,  A61B17/16

Abstract: A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan.

公开(公告)号：US10780573B2

公开(公告)日：2020-09-22

申请号：US15569643

申请日：2016-04-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dennis Vaders

IPC: B25J9/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  A61B50/00 ,  A61B90/00 ,  A61B17/00 ,  B25J15/00

Abstract: A force transmission mechanism of a surgical instrument, which is configured to releasably engage with a drive interface device located at a patient side cart of a teleoperated surgical system, includes a housing. The housing is configured to cover one or more drive components of the force transmission mechanism. The housing includes a releasable coupling mechanism configured to releasably engage with the drive interface device. The housing and the releasable coupling mechanism are a monolithic construction.

公开(公告)号：US20200289142A1

公开(公告)日：2020-09-17

申请号：US16836292

申请日：2020-03-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gabriel F. Brisson ,  Alan E. Loh ,  Lawrence Kerver

IPC: A61B17/295 ,  A61B34/30 ,  A61B17/32 ,  A61B17/285

Abstract: Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. The input link range of motion includes a first portion and a second portion. The input link within the first portion of the input link range of motion drives the jaw through a jaw range of motion. The input link within the second portion of the input link range of motion drives the tissue manipulation member through a tissue manipulation member range of motion.

公开(公告)号：US10772630B2

公开(公告)日：2020-09-15

申请号：US15772528

申请日：2016-10-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey

IPC: A61B17/068 ,  A61B17/072 ,  A61B34/37 ,  A61B34/30

Abstract: A drive shuttle is provided that includes a leader ramp mount that includes a longitudinal first axis; a first leader ramp that depends from (i.e. that physically couples to) a first side of the leader ramp mount; a pusher protrusion that depends from a second side of the leader ramp mount; a follower ramp mount; a follower protrusion that depends from the follower ramp mount; a first follower ramp that depends from the follower protrusion; wherein the first leader ramp, the pusher protrusion, the first follower ramp and the follower protrusion are disposed in relation to each another such that, in the first configuration, the pusher protrusion is spaced apart longitudinally from the follower protrusion by an offset amount and the first leader ramp is aligned longitudinally with the first follower ramp; and in the second configuration, the pusher protrusion contacts the follower protrusion and the first leader ramp is spaced apart longitudinally from the first follower ramp by the offset amount.