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公开(公告)号：US12138012B2
公开(公告)日：2024-11-12
申请号：US17894849
申请日：2022-08-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson
Abstract: A system for performing a minimally invasive procedure includes a flexible catheter, an elongate instrument, an optical coherence tomographic sensor, and a control system. The flexible catheter has a lumen extending therethrough. The elongate instrument is sized for passage through the lumen. The optical coherence tomographic sensor is coupled to the elongate instrument. The control system includes one or more processors and is configured to receive sensor data from the optical coherence tomographic sensor, profile a tissue based on the received sensor data, and determine a distance between the elongate instrument and the profiled tissue.
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公开(公告)号：US12023066B2
公开(公告)日：2024-07-02
申请号：US17177932
申请日：2021-02-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christopher R. Carlson , Federico Barbagli , Randall L. Schlesinger
CPC classification number: A61B17/3403 , A61B5/061 , A61B5/062 , A61B10/0283 , A61B10/04 , A61B5/0538 , A61B2010/045 , A61B10/06 , A61B2017/3405 , A61B2034/301 , A61B2090/064
Abstract: A non-transitory computer readable medium stores instructions which, when executed by one or more processors, are adapted to cause the one or more processors to: receive a command to initiate a medical procedure at a target location with a medical instrument; retrieve a predefined dynamic trajectory for the medical procedure; move the medical instrument according to the predefined dynamic trajectory to perform the medical procedure at the target location; detect a force received at a distal tip of the medical instrument during movement of the medical instrument; and determine a tissue impedance profile based on the detected force.
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公开(公告)号：US11759262B2
公开(公告)日：2023-09-19
申请号：US15564509
申请日：2016-04-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Caitlin Q. Donhowe , Vincent Duindam , Timothy D. Soper , Tao Zhao
IPC: A61B34/20 , A61B1/00 , A61B1/01 , A61B1/267 , A61B34/10 , A61B34/35 , G06T7/00 , G06T7/30 , A61B1/005 , G06T7/38 , A61B34/30 , A61B90/00
CPC classification number: A61B34/20 , A61B1/009 , A61B1/00147 , A61B1/01 , A61B1/2676 , A61B34/10 , G06T7/0012 , G06T7/30 , A61B34/35 , A61B90/37 , A61B2034/104 , A61B2034/105 , A61B2034/207 , A61B2034/2051 , A61B2034/2057 , A61B2034/2061 , A61B2034/301 , A61B2090/365 , A61B2090/397 , A61B2090/3945 , G06T7/38
Abstract: A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.
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公开(公告)号：US11744654B2
公开(公告)日：2023-09-05
申请号：US16479053
申请日：2018-02-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Matthew D. Rohr Daniel , David W. Bailey , Stephen J. Blumenkranz , Christopher R. Carlson , Matthew D. Inouye
CPC classification number: A61B34/30 , B25J9/10 , A61B34/37 , A61B2017/00477 , A61B2034/2051 , A61B2034/2061
Abstract: The systems and methods of the present disclosure are for use in a medical procedure, in which a connection mechanism is provided with a first end connected to a medical system interface at a first joint and a second end connected to an anatomic orifice device at a second joint. The anatomic orifice device is fixedly coupled to a patient. A flexible portion is provided between the first and second ends, the flexible portion being able to provide flexibility in at least one degree of freedom in response to movement of the anatomic orifice device.
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Patent Agency Ranking
45.发明申请公开(公告)号：US20200078103A1
公开(公告)日：2020-03-12
申请号：US16307995
申请日：2017-06-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Vincent Duindam , Federico Babagli , Cristian Bianchi , Christopher R. Carlson , Timothy D. Soper
Abstract: A method for displaying guidance information using a graphical user interface during an medical procedure comprises displaying, in a first mode of the graphical user interface, first image data from a perspective corresponding to a distal end of an elongate device. The first image data includes a virtual roadmap. The method also comprises transitioning from the first mode of the graphical user interface to a second mode of the graphical user interface. The transition is based on an occurrence of a triggering condition. The method also comprises displaying, in the second mode of the graphical user interface, second image data from a perspective corresponding to the distal end of the elongate device. The second image data includes a target indicator corresponding to a target location and an alignment indicator corresponding to an expected location of the medical procedure at the target location.
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公开(公告)号：US20200078096A1
公开(公告)日：2020-03-12
申请号：US16306418
申请日：2017-06-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Federico Barbagli , Christopher R. Carlson , Samuel Y. Chang , Nicola Diolaiti , Vincent Duindam , Salomon J. Trujillo
Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
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公开(公告)号：US10376134B2
公开(公告)日：2019-08-13
申请号：US15518385
申请日：2015-10-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Randall L. Schlesinger , Stephen J. Blumenkranz , Christopher R. Carlson , Vincent Duindam , Anoop B. Kowshik , Timothy D. Soper
Abstract: An apparatus comprises an instrument including an elongated shaft. The apparatus also comprises a first shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from the neutral axis. The apparatus also comprises a twist resistant feature configured to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft.
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公开(公告)号：US20170273712A1
公开(公告)日：2017-09-28
申请号：US15505855
申请日：2015-08-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christopher R. Carlson , Randall L. Schlesinger , Federico Barbagli
CPC classification number: A61B17/3403 , A61B5/0538 , A61B5/061 , A61B5/062 , A61B10/0283 , A61B10/04 , A61B10/06 , A61B2010/045 , A61B2017/3405 , A61B2034/301 , A61B2090/064
Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.
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公开(公告)号：US20170265956A1
公开(公告)日：2017-09-21
申请号：US15505452
申请日：2015-08-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Christopher R. Carlson , Federico Barbagli
Abstract: A method of controlling a movement of a medical instrument comprises receiving an input instruction from an operator input device movement and determining a control factor based on the input instruction. The method also comprises receiving a motion scaling parameter determined from the control factor and mapping the input instruction to an output instruction for a medical instrument movement. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction. The method also includes moving the medical instrument according to the output instruction.
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