公开(公告)号：US10695136B2

公开(公告)日：2020-06-30

申请号：US15862880

申请日：2018-01-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin

IPC: A61B34/20 ,  B25J9/16 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B1/04 ,  A61B17/00 ,  A61B34/10 ,  G06T7/00

Abstract: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.

公开(公告)号：US10687908B2

公开(公告)日：2020-06-23

申请号：US16284815

申请日：2019-02-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.

公开(公告)号：US10682192B2

公开(公告)日：2020-06-16

申请号：US15717089

申请日：2017-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B5/00 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B1/00 ,  A61B1/005 ,  A61B10/06 ,  A61B1/05 ,  A61B34/30

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.

公开(公告)号：US10682046B2

公开(公告)日：2020-06-16

申请号：US15953517

申请日：2018-04-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B1/06 ,  H04N13/204 ,  G02B23/24 ,  A61B1/00 ,  A61B1/045 ,  A61B1/313 ,  G02B13/00 ,  H04N5/225 ,  A61B1/05 ,  A61B34/37 ,  A61B90/00 ,  A61B90/50 ,  A61B34/30 ,  H04N13/20

Abstract: In one embodiment, a minimally invasive surgical system includes a patient side manipulator, a hermetically sealed endoscopic camera instrument, a vision cart, and a monitor. The patient side manipulator has a robotic arm. The endoscopic camera instrument has a housing at a proximal end to couple to the robotic arm. The endoscopic camera instrument further has a hermetically sealed camera sensor at a distal end, a shaft coupled to the housing, and a wristed joint coupled between the shaft and the camera sensor. The vision cart has a camera control unit coupled in communication with the hermetically sealed camera sensor to capture the images of the surgical site. The monitor is coupled in communication with the camera control unit to display the captured images of the surgical site.

公开(公告)号：US20200182743A1

公开(公告)日：2020-06-11

申请号：US16640610

申请日：2018-08-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Benjamin S. Flamm

IPC: G01M13/00 ,  A61B34/35 ,  A61B17/29 ,  A61B90/00 ,  B25J15/02 ,  B25J19/00

Abstract: Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the end effector using the first effort information of the first test move.

公开(公告)号：US20200179079A1

公开(公告)日：2020-06-11

申请号：US16775806

申请日：2020-01-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B90/00 ,  A61B34/30 ,  A61B1/00 ,  A61B6/00

Abstract: An exemplary surgical system is configured to 1) access a plurality of surgical site scenes captured entirely outside a structure within a patient, each surgical site scene in the plurality of surgical site scenes being captured from reflected light of a different waveband of a plurality of wavebands, each waveband of the plurality of wavebands being reflected by structure tissue of the structure and non-structure tissue outside the structure; 2) detect a difference between spectral reflectances of each of the surgical site scenes in the captured surgical site scenes, and 3) identify, based on the detected difference between the spectral reflectances of each of the surgical site scenes in the captured surgical site scenes, pixels in the captured surgical site scenes that correspond to the structure tissue and pixels in the captured surgical site scenes that correspond to the non-structure tissue outside the structure.

公开(公告)号：US20200170725A1

公开(公告)日：2020-06-04

申请号：US16779564

申请日：2020-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

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

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

公开(公告)号：US20200163731A1

公开(公告)日：2020-05-28

申请号：US16630134

申请日：2018-07-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Pushkar Hingwe

IPC: A61B34/35 ,  A61B1/045 ,  A61B1/00 ,  A61B34/00

Abstract: Systems and methods for reassigning control by a master controller between a plurality of teleoperational instruments is provided herein. An exemplary method includes detecting activation of an instrument reassignment input, computing proxy positions of at least a first instrument and a second instrument of the plurality of teleoperational instruments, and computing a proxy position of the master controller. The exemplary method may also include receiving input from the master controller associating the proxy position of the master controller with the proxy position of the second medical instrument and assigning control of the second instrument to the master controller based on the association between the proxy position of the master controller with the proxy position of the second instrument.

公开(公告)号：US10653866B2

公开(公告)日：2020-05-19

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Catherine J. Mohr ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe

IPC: A61B1/00 ,  A61M25/06 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/00 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.

公开(公告)号：US20200146763A1

公开(公告)日：2020-05-14

申请号：US16742008

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

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

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.