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公开(公告)号：US11564760B2
公开(公告)日：2023-01-31
申请号：US16340966
申请日：2017-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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52.发明申请公开(公告)号：US20220160448A1
公开(公告)日：2022-05-26
申请号：US17440349
申请日：2020-03-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ryan C. Abbott , John Ryan Steger
Abstract: A system includes a manipulator assembly and a shroud that defines a sterile volume. The manipulator assembly includes a sterile link or a non-sterile link covered by an external sterile cover, and the link is received into and withdrawn from the shroud's sterile volume. The outside of the shroud may be non-sterile while the shroud maintains its interior sterile volume, so that the link or external sterile cover remains sterile as it moves within the shroud's sterile volume. The shroud may then extend into a non-sterile field in a surgical environment, and the link or external sterile cover remains sterile as the link is moved from the non-sterile field into a sterile field for surgery. The shroud may be movable, it may mechanically support the manipulator assembly, and it may be coupled to a surgical table or to a unit separate from a surgical table.
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公开(公告)号：US20220151716A1
公开(公告)日：2022-05-19
申请号：US17649721
申请日：2022-02-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.
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公开(公告)号：US20210401519A1
公开(公告)日：2021-12-30
申请号：US16633501
申请日：2018-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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公开(公告)号：US20210128262A1
公开(公告)日：2021-05-06
申请号：US16484299
申请日：2017-12-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , John Ryan Steger
IPC: A61B34/00
Abstract: A computer-assisted system comprises a manipulator configured to support a tool, a lockable joint, and a controller. The manipulator extends distally from a base and comprises a distal portion. The lockable joint is coupled to the base and located proximally relative to the base. The controller is operably coupled to a powered joint. The powered joint is located distally relative to the base. The controller is configured to perform operations. The operations comprise: driving the powered joint to move the distal portion while the lockable joint is locked, and driving the powered joint to move the base while the lockable joint is unlocked and a position of the distal portion is externally maintained. A method includes processes for operating a computer-assisted system. A method includes determining a desired motion envelope for a tool supported by a manipulator, and positioning a base of the manipulator based on the desired motion envelope.
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Patent Agency Ranking
公开(公告)号：US20210093402A1
公开(公告)日：2021-04-01
申请号：US17061785
申请日：2020-10-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tabish Mustufa , Heath Feather , Daniel H. Gomez , Brian D. Hoffman , Paul W. Mohr , Huan L. Phan
Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.
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公开(公告)号：US20210022768A1
公开(公告)日：2021-01-28
申请号：US17071643
申请日：2020-10-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Thomas G. Cooper , Daniel H. Gomez , Paul E. Lilagan , Anthony K. McGrogan , Giuseppe Maria Prisco
Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.
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公开(公告)号：US10456166B2
公开(公告)日：2019-10-29
申请号：US15360311
申请日：2016-11-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
IPC: A61B17/34 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B34/00 , B25J15/04 , A61B46/23 , A61B50/00 , A61B90/98 , A61B17/02 , A61M13/00 , A61B17/00 , A61B90/50
Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
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公开(公告)号：US20190298463A1
公开(公告)日：2019-10-03
申请号：US16446167
申请日：2019-06-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
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 are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
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公开(公告)号：US20190231459A1
公开(公告)日：2019-08-01
申请号：US16316981
申请日：2017-04-25
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tabish Mustufa , Heath Feather , Daniel H. Gomez , Brian D. Hoffman , Paul W. Mohr , Huan L. Phan
Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.
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