公开(公告)号：US10984567B2

公开(公告)日：2021-04-20

申请号：US16351444

申请日：2019-03-12

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

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US10898287B2

公开(公告)日：2021-01-26

申请号：US16781457

申请日：2020-02-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Q. Larkin ,  Paul Millman

IPC: A61B34/00 ,  A61B34/35 ,  A61B18/12 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US20210015555A1

公开(公告)日：2021-01-21

申请号：US17062963

申请日：2020-10-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David Q. Larkin ,  Paul E. Lilagan

IPC: A61B34/10 ,  A61B34/35 ,  A61B34/30

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.

公开(公告)号：US20200289023A1

公开(公告)日：2020-09-17

申请号：US16837159

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Simon P. DiMaio ,  David Q. Larkin ,  Dorin Panescu ,  Giuseppe Maria Prisco

IPC: A61B5/06 ,  A61B17/3209 ,  A61B10/02 ,  A61B17/34 ,  A61B34/20

Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.

公开(公告)号：US10575909B2

公开(公告)日：2020-03-03

申请号：US15796016

申请日：2017-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Q. Larkin ,  Paul Millman

IPC: G06F19/00 ,  A61B34/35 ,  A61B18/12 ,  A61B34/30 ,  A61B34/00 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US20200060777A1

公开(公告)日：2020-02-27

申请号：US16667523

申请日：2019-10-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US10512513B2

公开(公告)日：2019-12-24

申请号：US15726733

申请日：2017-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  B25J9/16 ,  B25J3/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US20190209262A1

公开(公告)日：2019-07-11

申请号：US16283311

申请日：2019-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tabish Mustufa ,  Nicola Diolaiti ,  David Q. Larkin

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

CPC classification number: A61B90/36 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/03 ,  A61B90/361 ,  A61B2017/00119 ,  A61B2034/102 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point.

公开(公告)号：US10285764B2

公开(公告)日：2019-05-14

申请号：US15118305

申请日：2015-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

公开(公告)号：US10264978B2

公开(公告)日：2019-04-23

申请号：US15783967

申请日：2017-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. Herzlinger ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B6/00 ,  A61B5/00 ,  A61B1/267 ,  A61B1/00 ,  A61B1/06 ,  A61B5/08

Abstract: Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.