公开(公告)号：US10588703B2

公开(公告)日：2020-03-17

申请号：US15014559

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/30 ,  G01B11/24 ,  A61B34/00 ,  A61B34/20 ,  G01D5/353

Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.

公开(公告)号：US20200078109A1

公开(公告)日：2020-03-12

申请号：US16316939

申请日：2017-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrisette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

公开(公告)号：US10582838B2

公开(公告)日：2020-03-10

申请号：US15935936

申请日：2018-03-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Nicola Diolaiti

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  A61B1/008 ,  A61B1/05 ,  A61B90/00 ,  A61B90/30 ,  A61B34/20 ,  A61B17/00

Abstract: A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.

公开(公告)号：US20200069388A1

公开(公告)日：2020-03-05

申请号：US16677278

申请日：2019-11-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey

IPC: A61B34/00 ,  A61B46/10 ,  A61B17/00 ,  G06F3/0354 ,  G06F3/0362 ,  A61B34/37

Abstract: Systems and methods for controlling an elongate device include a console. The console includes a first recess and a removable first input control for controlling motion of the medical device, The console also may include one or more first sensors located about the first recess that detect motion of the first input control and detect operator contact with the first input control. The console also may include an integrated display screen arranged to display status information for the medical device. In some embodiments, the first input control controls an insertion depth or steering of the medical device, and may be in the form of a scroll wheel forming a part of a removable control assembly

公开(公告)号：US20200069384A1

公开(公告)日：2020-03-05

申请号：US16446015

申请日：2019-06-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Benjamin E. Goodman

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  A61B90/50 ,  A61B34/30

Abstract: A guiding apparatus comprises a plurality of support members. Each of the plurality of support members has a curved profile to resist bending in at least one direction. The guiding apparatus also comprises a retraction system coupled to the plurality of support members. The plurality of support members has an extended configuration in which the plurality of support members is positioned in an arrangement to form a channel sized to receive an instrument. The plurality of support members has a retracted configuration in which each of the plurality of support members is retracted within the retraction system as the instrument is advanced along a longitudinal axis.

公开(公告)号：US10580326B2

公开(公告)日：2020-03-03

申请号：US15190133

申请日：2016-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony M. Jarc ,  Christopher J. Sanchez ,  Timothy V. White ,  Eugene T. Nagel

IPC: G09B23/30 ,  G09B23/28

Abstract: Implementations relate to anatomical models and surgical training. In some implementations, an anatomical training model includes a base portion and a top portion that form a hollow space between the base portion and top portion. A plurality of holes are positioned in the top portion. The model includes a plurality of cannula supports, where each cannula support is aligned with one or more corresponding holes in the top portion.

公开(公告)号：US20200061813A1

公开(公告)日：2020-02-27

申请号：US16670825

申请日：2019-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash

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

Abstract: A method for moving a manipulator arm. The manipulator arm includes a movable distal portion, a proximal portion coupled to a base, and joints between the distal portion and the base. The method involves calculating a first movement of the joints in accordance with a first objective. The method further involves calculating a second movement of the joints in accordance with a second objective. The first and the second movements are in a null-space of a Jacobian of the manipulator arm. The method also involves determining a combined movement of the joints by combining the first and second movements while limiting an overall magnitude of the combined movement without changing a direction of the combined movement, and/or combining the first and second movements while limiting a magnitude of the combined movement degree-of-freedom by degree-of-freedom. The method further involves driving the joints to effect the combined movement of the joints.

公开(公告)号：US10568708B2

公开(公告)日：2020-02-25

申请号：US15649148

申请日：2017-07-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/30 ,  A61B34/00

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：US20200054406A1

公开(公告)日：2020-02-20

申请号：US16661649

申请日：2019-10-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Michael Hanuschik ,  Joseph Arsanious ,  Julie L. Berry ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Paul W. Mohr

IPC: A61B34/35 ,  A61B46/10 ,  A61B50/13 ,  A61B50/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/13

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

公开(公告)号：US10561470B2

公开(公告)日：2020-02-18

申请号：US14218318

申请日：2014-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Niels Smaby ,  Nitish Swarup

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/20

Abstract: Methods, apparatus, and systems for controlling a plurality of manipulator assemblies of a robotic system. In accordance with a method, a first plurality of sensor signals are received at a plurality of joint space interface elements from a plurality of connector input elements via a first mapping between the joint space interface elements and joints of the first manipulator assembly. The connector input elements are operable to couple to only one manipulator assembly at a time. The received first sensor signals are then processed with a joint controller so as to control the first manipulator assembly. A second plurality of sensor signals are then received from the connector input elements at the joint space interface elements via a second mapping different than the first mapping. The received second sensor signals are then processed with the joint controller so as to control a second manipulator assembly different than the first manipulator assembly.