公开(公告)号：US20200282570A1

公开(公告)日：2020-09-10

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20200275985A1

公开(公告)日：2020-09-03

申请号：US16764349

申请日：2018-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Allen C. THOMPSON ,  Robert B. HUBLER

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

Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a thumb grip member including a thumb grip receptive to a thumb of a hand of a user. The master control device includes a finger grip member coupled to the thumb grip member at a proximal end of the master control device and extending toward a distal end of the master control device, where the finger grip member includes a finger grip receptive to multiple fingers of the hand. The thumb grip member and finger grip member are movable in a pinching configuration with respect to each other. The master control device includes a sensor coupled to at least one of the thumb grip member or finger grip member to sense relative positions of the thumb grip member and finger grip member with respect to each other in the pinching configuration.

公开(公告)号：US20200267128A1

公开(公告)日：2020-08-20

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: H04L29/06 ,  H04W4/80 ,  H04W12/06

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：US10743897B2

公开(公告)日：2020-08-18

申请号：US15573031

申请日：2016-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Julie L. Berry ,  Melissa D. Lippiatt ,  Daniel P. Saraliev ,  Melody Wu

IPC: A61B17/285 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B17/32 ,  A61B90/00 ,  A61B17/00

Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.

公开(公告)号：US20200253673A1

公开(公告)日：2020-08-13

申请号：US16626001

申请日：2018-06-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC,

Inventor： Mahdi Azizian ,  Simon P. DiMaio

IPC: A61B34/35

Abstract: A method comprises obtaining an endoscopic image dataset of a patient anatomy from an endoscopic imaging system and retrieving an anatomic model dataset of the patient anatomy obtained by an anatomic imaging system. The method also comprises mapping the endoscopic image dataset to the anatomic model dataset and displaying a first vantage point image using the mapped endoscopic image dataset. The first vantage point image is presented from a first vantage point at a distal end of the endoscopic imaging system. The method also comprises displaying a second vantage point image using at least a portion of the mapped endoscopic image dataset. The second vantage point image is presented from a second vantage point, different from the first vantage point.

公开(公告)号：US10739529B2

公开(公告)日：2020-08-11

申请号：US16538555

申请日：2019-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Mark E. Froggatt ,  Eric E. Sanborn ,  Jeffrey T. LaCroix

IPC: G02B6/38 ,  G02B6/02 ,  G01B11/27 ,  G01B11/00 ,  G01M11/00

Abstract: The ends of sensing and interrogating multicore fibers are brought into proximity for connection in a first orientation with one or more cores in the sensing fiber being paired up with corresponding one or more cores in the interrogating fiber. Optical interferometry is used to interrogate at least one core pair and to determine a first reflection value that represents a degree of alignment for the core pair in the first orientation. The relative position is adjusted between the ends of the fibers to a second orientation. Interferometry is used to interrogate the core pair and determine a second reflection value that represents a degree of alignment for the core pair in the second orientation. The first reflection value is compared with the second reflection value, and an aligned orientation is identified for connecting the sensing and interrogating fibers based on the comparison.

公开(公告)号：US20200246983A1

公开(公告)日：2020-08-06

申请号：US16776753

申请日：2020-01-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Grant M. KADOKURA ,  Andrew C. WATERBURY

IPC: B25J18/00 ,  F16H19/00

Abstract: A tool includes a transmission mechanism, a shaft rotatable relative to the transmission mechanism, and a stop mechanism associated with the shaft, the stop mechanism being transitionable between a first state and a second state. In the first state, the shaft is free to rotate in a first direction and in a second direction opposite to the first direction. In the second state, the shaft is constrained from rotating in one of the first direction or the second direction by a defined first endpoint of a range of rotational motion of the shaft. Devices and methods relate to rotation stop mechanisms.

公开(公告)号：US20200246094A1

公开(公告)日：2020-08-06

申请号：US16855144

申请日：2020-04-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B90/94 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00

Abstract: A system comprises a teleoperational assembly including an operator control system and manipulators configured for teleoperation by the operator control system. A first manipulator controls a first medical instrument in a surgical environment and a second manipulator controls an imaging instrument. The system also comprises a processing unit to display an image of a field of view of the surgical environment captured by the imaging instrument and determine a position of a distal portion of the first medical instrument in an image coordinate space. The processing unit determines an initial position for a first badge associated with the distal portion of the first medical instrument and determine a badge placement boundary for the image of the field of view. The processing unit also adjusts the first badge from the initial position to a display position within the badge placement boundary of the image of the field of view.

公开(公告)号：US10729885B2

公开(公告)日：2020-08-04

申请号：US15843855

申请日：2017-12-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Cameron D. Hinman ,  David J. Danitz

IPC: A61B17/29 ,  A61M25/01 ,  A61B1/005

Abstract: A surgical clamp comprises a pair of opposing jaws moveable relative to each other between a closed position and first and second open positions. The opposing jaws remain substantially parallel to one another when moving between the closed position and the first open position. The opposing jaws remain non-parallel to one another when moving between the first open position and the second open position.

公开(公告)号：US20200237465A1

公开(公告)日：2020-07-30

申请号：US16845808

申请日：2020-04-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Grant M. Kadokura ,  William A. McDonald, II

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

Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.