公开(公告)号：US20190290373A1

公开(公告)日：2019-09-26

申请号：US16439634

申请日：2019-06-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/37 ,  G16H40/40 ,  A61B34/30 ,  A61B34/35

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US10350015B2

公开(公告)日：2019-07-16

申请号：US15147171

申请日：2016-05-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  G16H40/40 ,  A61B17/00 ,  A61B90/00

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US20190029766A1

公开(公告)日：2019-01-31

申请号：US16149451

申请日：2018-10-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Brandon D. Itkowitz ,  Thomas R. Nixon

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/13 ,  A61B34/00 ,  A61B46/10 ,  A61B50/18

Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.

公开(公告)号：US20180338808A1

公开(公告)日：2018-11-29

申请号：US16052555

申请日：2018-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

IPC: A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  B25J9/16 ,  A61B34/20 ,  A61B17/00

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

公开(公告)号：US20180318023A1

公开(公告)日：2018-11-08

申请号：US16016436

申请日：2018-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/35 ,  B25J19/00 ,  B25J9/16 ,  B25J9/00 ,  A61B90/50 ,  F16M13/02 ,  A61B34/30

Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

公开(公告)号：US10028793B2

公开(公告)日：2018-07-24

申请号：US15126541

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Brandon D. Itkowitz ,  Thomas R. Nixon ,  Roman Devengenzo

IPC: A61B34/00 ,  A61B34/35 ,  A61B90/50 ,  A61B34/30 ,  F16M13/02 ,  B25J9/00 ,  B25J9/16 ,  B25J19/00

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. In some embodiments, 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. Systems and methods are also provided to keep one, some, or all joints of the kinematic chain off a hardstop or physical range of motion limit associated with the joint or to otherwise maintain a desired range of motion for one, some, or all joints of the kinematic chain when exiting a set-up mode.

公开(公告)号：US09814536B2

公开(公告)日：2017-11-14

申请号：US15072303

申请日：2016-03-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P Goldberg ,  Michael Hanuschik ,  Paul Millman ,  Paul W. Mohr ,  Thomas R. Nixon ,  David Robinson

IPC: A61B19/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/98 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device. A frame of reference of the left position and right position is relative to a user operating the first input device.

公开(公告)号：US20170209232A1

公开(公告)日：2017-07-27

申请号：US15459175

申请日：2017-03-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David S. Mintz ,  Thomas R. Nixon

IPC: A61B90/00 ,  A61B1/00 ,  A61B34/37 ,  A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  B25J9/16 ,  A61B17/00

CPC classification number: B25J9/1692 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/0051 ,  A61B1/04 ,  A61B1/3132 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00199 ,  A61B2017/00292 ,  A61B2017/00296 ,  A61B2034/102 ,  A61B2034/107 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2090/365 ,  A61B2090/367 ,  A61B2090/371 ,  A61B2090/373 ,  B25J9/1694 ,  B25J9/1697 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123

Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

公开(公告)号：US09345546B2

公开(公告)日：2016-05-24

申请号：US14145406

申请日：2013-12-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B19/00 ,  G06F19/00 ,  A61B17/00

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  G05B2219/45123 ,  G05B2219/49305 ,  G06F19/00 ,  G16H40/40 ,  Y10S901/02 ,  Y10S901/41

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。

公开(公告)号：US08862268B2

公开(公告)日：2014-10-14

申请号：US13800856

申请日：2013-03-13

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06F19/00 ,  A61B19/00 ,  G05B19/04 ,  A61B18/00 ,  A61B18/14 ,  A61B17/00 ,  A61B18/12

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

Abstract translation: 公开了一种用于微创手术系统的方法，包括：在安装到第一机器臂上的第一机器人手术工具中从存储装置读取第一工具信息，以至少确定第一工具类型; 读取关于一个或多个远程控制设备的设备信息以进行控制; 将所述第一工具信息与所述设备信息进行比较以将所述一个或多个远程控制设备的第一遥控设备适当地匹配到所述第一机器人手术工具; 以及映射第一控制台的一个或多个用户界面输入设备，以控制第一遥控设备以支持第一机器人手术工具的功能。