公开(公告)号：US12114947B2

公开(公告)日：2024-10-15

申请号：US17459120

申请日：2021-08-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/35 ,  A61B1/313 ,  A61B17/00 ,  A61B17/42 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B1/3132 ,  A61B2017/00477 ,  A61B17/4241 ,  A61B2034/302 ,  A61B2090/3941 ,  A61B2090/3945 ,  A61B2090/3983

Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

公开(公告)号：US20240115335A1

公开(公告)日：2024-04-11

申请号：US18545284

申请日：2023-12-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter Dimaio ,  David William Bailey ,  Theodore W. Rogers ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/302 ,  A61B2034/305

Abstract: A computer-assisted medical system includes a manipulator, an instrument holder physically coupled to the manipulator arm, and a controller that includes a computer processor. The instrument holder includes an instrument holder carriage configured to releasably couple to an instrument and translate the instrument along a longitudinal axis. The controller applies a signal that represents a movement for the instrument along the longitudinal axis to a filter to differentiate between a first and a second motion component of the movement along the longitudinal axis, and causes the instrument to move in accordance with the movement along the longitudinal axis by commanding the manipulator arm to move based on the first motion component of the movement along the longitudinal axis. The controller further commands, based on the second motion component of the movement along the longitudinal axis, the instrument holder carriage to move relative to the manipulator arm.

公开(公告)号：US20240004273A1

公开(公告)日：2024-01-04

申请号：US18316958

申请日：2023-05-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jonathan Halderman ,  John A. Barton ,  Mathew Clopp ,  Rumen Deyanov ,  Anqi Fan ,  Yves Lacroix ,  Derek C. Liou ,  Theodore W. Rogers

IPC: G03B17/55 ,  A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B1/00 ,  A61B1/07 ,  A61B1/12 ,  G02B23/24 ,  G03B15/14

CPC classification number: G03B17/55 ,  A61B34/35 ,  A61B34/74 ,  A61B90/361 ,  A61B1/00163 ,  A61B1/07 ,  A61B1/127 ,  A61B1/128 ,  G02B23/2423 ,  G03B15/14 ,  A61B2034/742

Abstract: An image capturing device comprises a first elongated body portion formed of a first material and a second elongated body portion coupled to a proximal end of the first body portion. The second body portion is formed of a second material having a greater heat conductivity than the first material. The device further comprises an imaging window coupled to a distal end of the first body portion, a first housing within the first body portion, an image sensor mounted to the first housing, and an image processor mounted to the first housing and coupled to receive electrical signals from the image sensor. The device further comprises a second housing within the first body portion. The second housing is coupled to the first housing and to the window such that heat generated by the image sensor and image processor is transmitted through the second housing to the window.

公开(公告)号：US20220104894A1

公开(公告)日：2022-04-07

申请号：US17554155

申请日：2021-12-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Gabriel F. Brisson ,  Rumen Deyanov ,  Ray Lathrop ,  Theodore W. Rogers

IPC: A61B34/30 ,  A61B34/37 ,  B25J9/16 ,  A61B34/00 ,  A61B17/29

Abstract: A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

公开(公告)号：US11129683B2

公开(公告)日：2021-09-28

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. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/00 ,  A61B1/313 ,  A61B17/42 ,  A61B17/00

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：US20200315735A1

公开(公告)日：2020-10-08

申请号：US16837132

申请日：2020-04-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. Rogers

IPC: A61B90/00 ,  A61B17/072 ,  A61B17/295

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

公开(公告)号：US20200315721A1

公开(公告)日：2020-10-08

申请号：US16305203

申请日：2017-06-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dinesh Rabindran ,  Katherine Suzanne Anderson ,  Nicholas Leo Bernstein ,  Simon Peter DiMaio ,  Catherine Mohr ,  Theodore W. Rogers ,  Kollin Myles Tierling ,  Andrew Cullen Waterbury

IPC: A61B34/35 ,  A61B90/00 ,  A61B17/34

Abstract: Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.

公开(公告)号：US20200215696A1

公开(公告)日：2020-07-09

申请号：US16827227

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US10687907B2

公开(公告)日：2020-06-23

申请号：US15359020

申请日：2016-11-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. 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 surgical system comprises a surgical instrument having distal and proximal portions. The surgical system also comprises a reference fixture positioned in a first reference frame and a shape sensor extending from the distal portion through the proximal portion to the reference fixture. The surgical system also comprises a processor configured to perform a registration step to register the first reference frame to a fixed world reference frame. The registration step includes receiving a set of shape information of the shape sensor with a distal point of the surgical instrument located at a patient reference point. A first portion of the shape sensor is in a known geometrical shape at a fixed location along a length of the shape sensor. The registration step also includes computing a location of the patient reference point and computing a pose of the first reference frame relative to the fixed world reference frame.

公开(公告)号：US10478163B2

公开(公告)日：2019-11-19

申请号：US15134836

申请日：2016-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Theodore W. Rogers ,  John Ryan Steger

IPC: A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B34/20

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.