公开(公告)号：US20200146761A1

公开(公告)日：2020-05-14

申请号：US16745906

申请日：2020-01-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/30

Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

公开(公告)号：US20200146759A1

公开(公告)日：2020-05-14

申请号：US16741917

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

IPC: A61B34/30 ,  A61B34/37 ,  F16M11/20

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

公开(公告)号：US10646297B2

公开(公告)日：2020-05-12

申请号：US15985529

申请日：2018-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul Griffiths ,  Paul Mohr ,  Nitish Swarup ,  Michael Costa ,  David Larkin ,  Thomas Cooper ,  Michael Hanuschik

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B34/32

Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.

公开(公告)号：US10603135B2

公开(公告)日：2020-03-31

申请号：US15522657

申请日：2015-10-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian ,  Andrew C. Waterbury ,  Jonathan M. Sorger

IPC: A61B90/50 ,  A61B90/11 ,  A61B34/20 ,  B25J9/16 ,  B25J9/00 ,  A61B34/00 ,  A61B1/00

Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.

公开(公告)号：US10603127B2

公开(公告)日：2020-03-31

申请号：US15413378

申请日：2017-01-23

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

Inventor： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC: A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313 ,  A61B34/10 ,  A61B17/00

Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US20200093548A1

公开(公告)日：2020-03-26

申请号：US16678728

申请日：2019-11-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Vincent Duindam ,  Mark Froggatt ,  Eric Sanborn

IPC: A61B34/20 ,  G02B23/26 ,  G02B6/36 ,  A61B5/06 ,  A61B1/005 ,  A61B1/07

Abstract: A flexible tool includes an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion may be constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The adjustable bend may be enclosed with a housing that provides space within the housing for the adjustable bend to adjust. The optical fiber may be used to provide shape sensing of the flexible tool.

公开(公告)号：US20200093544A1

公开(公告)日：2020-03-26

申请号：US16465541

申请日：2018-01-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mahdi Azizian

IPC: A61B34/20 ,  A61B90/00 ,  A61B1/04 ,  A61B34/30 ,  A61B1/00 ,  A61B34/00 ,  G16H30/40 ,  G16H50/50 ,  G06T11/60 ,  G06F3/0488 ,  G06T7/00

Abstract: A system and method for registration and coordinated manipulation of augmented reality image components includes registering a model of patient anatomy to a first image of the patient anatomy captured using an imaging device to determine a baseline relationship between the model and the first image, tracking movement of a computer-assisted device used to manipulate the imaging device, updating the baseline relationship based on the tracked movement, and generating a composite image by overlaying the model on a second image of the patient anatomy according to the updated relationship. In some embodiments, the model is semi-transparent. In some embodiments, registering the model to the first image includes adjusting the model relative to the first image based on one or more inputs received from a user and generating a model to image transformation based on the adjustments to the model. The model to image transformation captures the baseline relationship.

公开(公告)号：US10598868B2

公开(公告)日：2020-03-24

申请号：US16459452

申请日：2019-07-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Mathew Clopp

IPC: G02B6/38 ,  G02B6/42 ,  G02B6/36 ,  A61B1/00 ,  G02B6/44

Abstract: An apparatus comprises a housing having a first melting temperature and a fiber bundle extending through the housing. The fiber bundle comprises a plurality of fibers having a second melting temperature. An end of each of the plurality of fibers extends past an edge of the housing. The apparatus further comprises a first seal between the plurality of fibers themselves and a second seal between the plurality of fibers and an inner surface of the housing. The seals each comprise a glass material having a third melting temperature lower than the first two melting temperatures. The second seal is configured to be formed as a result of the fiber bundle being inserted into the housing. The glass material coats a tip of each of the plurality of fibers and at least a portion of a side of each of the plurality of fibers near an end of the fiber bundle.

公开(公告)号：US10595949B2

公开(公告)日：2020-03-24

申请号：US16453530

申请日：2019-06-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Edward P. Donlon ,  Craig Tsuji ,  Alain Sadaka

IPC: F16C1/10 ,  A61B17/32 ,  A61B34/00 ,  A61B34/35 ,  A61B18/14 ,  A61B17/00

Abstract: An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide groove and through the shaft opening, and is configured to slide within the first guide groove. The second cable is routed within the second guide groove and through the shaft opening, and is configured to slide within the second guide groove.

公开(公告)号：US10595947B2

公开(公告)日：2020-03-24

申请号：US16192315

申请日：2018-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger

IPC: G02B6/06 ,  A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/20 ,  A61B17/00 ,  A61B34/30 ,  A61B34/37

Abstract: A surgical instrument shaft is provided that includes a hollow tube formed of a base material and including an inner wall surface and an outer wall surface; reinforcing glass material is embedded between the inner surface and outer wall surface; an optical fiber is embedded within the base material between the inner wall surface and the outer wall surface.