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公开(公告)号：US20210346107A1
公开(公告)日：2021-11-11
申请号：US17379379
申请日：2021-07-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
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.
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公开(公告)号：US20210266517A1
公开(公告)日：2021-08-26
申请号：US17254075
申请日：2019-06-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Derek C. Liou , Ian E. McDowall , Jonathan D. Halderman , Doris Lin , John A Barton , Bruce M. Schena , Kierstin Gray Parrish
IPC: H04N13/239 , H05K1/14 , H05K1/02 , A61B1/313 , A61B1/00
Abstract: An image capture unit has mounted in a frame: a first imaging assembly, a first circuit board, a second imaging assembly, and a second circuit board. The first imaging assembly is mounted on the first circuit board. The second imaging assembly is mounted on the second circuit board. A portion of the first circuit board and a portion of the second circuit board have a stacked configuration with the portion of the first circuit board being approximately parallel to the portion of the second circuit board. An end of another portion of the first circuit board is adjacent to an end of another portion of the second circuit board.
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公开(公告)号：US10959793B2
公开(公告)日：2021-03-30
申请号：US16558845
申请日：2019-09-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Alan W. Petersen , Bruce M. Schena
IPC: A61B34/35 , A61B34/30 , H01R13/6582 , H01R33/00 , A61B17/00
Abstract: A surgical instrument support arm of a teleoperated patient side cart may include a first arm portion including a first connector end and a second a second arm portion including a second connector end. The second arm portion may be removably connectable to the first arm portion via mating engagement of the first and second connector ends. The first and second connector ends may each include complementary mechanical connections and complementary electrical connections. At least one of the electrical connections of the first and second connector ends may include electrical shielding to protect against electrical interference in a position in which the electrical connections are matingly engaged. The electrical shielding may be configured to axially compress when the electrical connections of the first and second connector ends are matingly engaged.
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公开(公告)号：US10668633B2
公开(公告)日：2020-06-02
申请号：US16577381
申请日：2019-09-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC: B25J19/00 , A61B34/30 , A61B50/13 , A61B34/35 , B25J5/00 , A61B34/00 , B62B5/04 , A61B17/00 , A61B90/00
Abstract: A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.
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公开(公告)号：US20200155130A1
公开(公告)日：2020-05-21
申请号：US16751628
申请日：2020-01-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Bruce M. Schena
Abstract: A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.
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Patent Agency Ranking
公开(公告)号：US10595836B2
公开(公告)日：2020-03-24
申请号：US15126061
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Bruce M. Schena
Abstract: A method comprising receiving an input coupling adjacent to a drive input driven by an actuating element, the input coupling being coupled to a joint output and the joint output being connected to a movable object. The method further comprising rotating the actuating element to drive the drive input and determining, by a control system, whether a resistance torque greater than an inherent drivetrain resistance torque is experienced by the actuating element. The inherent drivetrain resistance torque is for a drivetrain including the input coupling, the drive input, and the joint output. The method also includes determining, by the control system, whether the drive input has engaged the input coupling based on the determination that the resistance torque greater than the inherent drivetrain resistance torque has been experienced by the actuating element.
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公开(公告)号：US10548459B2
公开(公告)日：2020-02-04
申请号：US15262932
申请日：2015-03-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC
Inventor： Brandon D. Itkowitz , Ian E. McDowall , Thomas R. Nixon , Bruce M. Schena , Niels Smaby
Abstract: A medical imaging system comprises a teleoperational assembly and a processing unit configured for receiving a roll position indicator for an imaging instrument coupled to the teleoperational assembly. The imaging instrument has a view angle other than 0° relative to an optical axis of the imaging instrument, and the imaging instrument is a stereoscopic imaging instrument including first and second image sources. The processing unit is further configured for: obtaining first image data from the imaging instrument at a first roll position; obtaining subsequent image data from the imaging instrument at a second roll position; and, responsive to a roll movement of the imaging instrument between the first and second roll positions, transitioning between presentation of the first image data on a user display and presentation of the subsequent image data on the user display. The transition includes changing a position of presentation of the first and second image sources.
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公开(公告)号：US10512514B2
公开(公告)日：2019-12-24
申请号：US15790767
申请日：2017-10-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
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.
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公开(公告)号：US10464219B2
公开(公告)日：2019-11-05
申请号：US16039599
申请日：2018-07-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC: B25J19/00 , A61B50/13 , A61B34/35 , A61B34/00 , B25J5/00 , A61B34/30 , B62B5/04 , A61B17/00 , A61B90/00
Abstract: A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.
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公开(公告)号：US10149729B2
公开(公告)日：2018-12-11
申请号：US15677964
申请日：2017-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
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