公开(公告)号：US20160216167A1

公开(公告)日：2016-07-28

申请号：US15087558

申请日：2016-03-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Christopher J. Hasser

IPC: G01L1/24 ,  A61B34/30 ,  A61B90/00

CPC classification number: G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

公开(公告)号：US09339347B2

公开(公告)日：2016-05-17

申请号：US14714580

申请日：2015-05-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian E. McDowall ,  Christopher J. Hasser

IPC: G05B15/00 ,  G05B19/00 ,  A61B19/00 ,  G01L1/24 ,  G02B6/26 ,  A61B17/00

CPC classification number: A61B34/20 ,  A61B18/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2562/0266 ,  G01B11/16 ,  G01L1/242 ,  G02B6/12019 ,  G02B6/264 ,  G02B6/32 ,  Y10T74/20335

Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

公开(公告)号：US12201485B2

公开(公告)日：2025-01-21

申请号：US18212343

申请日：2023-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B90/00 ,  A61B5/00 ,  A61B90/30 ,  G03B15/03 ,  G03B15/14 ,  H04N23/11 ,  H04N13/239 ,  H04N13/257

Abstract: An illustrative method may include receiving images of a site captured at a same time by a camera, the images comprising a single visible color component image, a first non-visible image associated with first excitation illumination having a first wavelength outside a visible spectrum, and a second non-visible image associated with second excitation illumination having a second wavelength outside the visible spectrum and different than the first wavelength; generating, based on the single visible color component image, a monochromatic image; generating, based on the single visible color component image and the first non-visible image, a first alternate image representative of a first alternate imaging characteristic of the site; generating, based on the single visible color component image and the second non-visible image, a second alternate image representative of a second alternate imaging characteristic of the site; and displaying the monochromatic image combined with the first and second alternate images.

公开(公告)号：US11941734B2

公开(公告)日：2024-03-26

申请号：US17213924

申请日：2021-03-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian David Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

CPC classification number: G06T11/60 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G06T11/40 ,  A61B34/20 ,  A61B2034/2061 ,  A61B34/25 ,  A61B90/361 ,  A61B2090/371 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  Y02P90/02

Abstract: A robotic system may comprise a first robotic arm operatively coupleable to a first tool. The first tool has a first working end. The system may also comprise an image capture device, a display, and a processor. The processor may be configured to cause an image of a work site, which was captured by the image capture device from a perspective of an image reference frame, to be displayed on the display. The image of the work site includes an image of the first working end of the first tool. The processor may also determine a position of the first working end of the first tool in the image of the work site and render a tool information overlay at the position of the first working end of the first tool in the image of the work site. The tool information overlay visually indicates state information for the first tool. The processor may also change the tool information overlay while the first tool is in a first operational state by changing a brightness of the tool information overlay.

公开(公告)号：US20230338101A1

公开(公告)日：2023-10-26

申请号：US18332891

申请日：2023-06-12

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

CPC classification number: A61B34/37 ,  A61B8/4245 ,  A61B8/4218 ,  A61B34/25 ,  A61B90/361 ,  A61B34/76 ,  A61B8/12 ,  A61B34/70 ,  A61B34/30 ,  A61B1/3132 ,  A61B8/461 ,  A61B90/37 ,  A61B2034/107

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：US11717375B2

公开(公告)日：2023-08-08

申请号：US16870295

申请日：2020-05-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B90/00 ,  A61B5/00 ,  A61B90/30 ,  G03B15/03 ,  G03B15/14 ,  H04N23/11 ,  H04N13/257 ,  H04N13/239

CPC classification number: A61B90/37 ,  A61B5/0013 ,  G03B15/03 ,  G03B15/14 ,  H04N23/11 ,  A61B2090/304 ,  A61B2090/306 ,  A61B2090/373 ,  A61B2560/0214 ,  H04N13/239 ,  H04N13/257

Abstract: An exemplary method includes receiving images of a site captured at a same time by a camera, generating, based one or more of the images, a monochromatic image, generating, based on one or more of the images, an alternate image representative of an alternate imaging characteristic of the site, and displaying the displaying the monochromatic image combined with the alternate image, the alternate image being highlighted relative to the monochromatic image.

公开(公告)号：US11650111B2

公开(公告)日：2023-05-16

申请号：US16827243

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Christopher J. Hasser

IPC: G01L1/24 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

公开(公告)号：US20220015832A1

公开(公告)日：2022-01-20

申请号：US17468198

申请日：2021-09-07

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

Inventor： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

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

Abstract: A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

公开(公告)号：US10806524B2

公开(公告)日：2020-10-20

申请号：US16110145

申请日：2018-08-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Gregory W. Dachs, II ,  Ian E. McDowall ,  Christopher J. Hasser

IPC: A61B34/20 ,  A61B18/00 ,  G01B11/16 ,  G02B6/12 ,  A61B34/30 ,  G01L1/24 ,  G02B6/26 ,  G02B6/32 ,  A61B90/00 ,  A61B17/00

Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.

公开(公告)号：US10737394B2

公开(公告)日：2020-08-11

申请号：US16161204

申请日：2018-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.