公开(公告)号：US20190110847A1

公开(公告)日：2019-04-18

申请号：US16211864

申请日：2018-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  David Q. Larkin ,  Catherine J. Mohr

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B34/30 ,  A61B1/00

Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.

公开(公告)号：US10137575B2

公开(公告)日：2018-11-27

申请号：US15629533

申请日：2017-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B17/00 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  G06F19/00 ,  A61B34/20

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US10123844B2

公开(公告)日：2018-11-13

申请号：US15488227

申请日：2017-04-14

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：US20180297206A1

公开(公告)日：2018-10-18

申请号：US16012534

申请日：2018-06-19

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: B25J9/16 ,  A61B17/00 ,  A61B34/20 ,  A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  A61B34/37 ,  A61B1/04 ,  A61B90/00 ,  A61B1/313

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：US20180206924A1

公开(公告)日：2018-07-26

申请号：US15928940

申请日：2018-03-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Daniel H. Gomez ,  Nicola Diolaiti ,  David Q. Larkin ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Lilagan

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  B25J9/10 ,  A61B5/151 ,  A61B1/018 ,  A61B1/005 ,  A61B34/37 ,  A61B34/35 ,  A61B34/32

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

公开(公告)号：US20180193100A1

公开(公告)日：2018-07-12

申请号：US15870116

申请日：2018-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00 ,  A61B90/30 ,  B25J9/16 ,  B25J18/06 ,  B25J19/02 ,  A61B17/00 ,  A61B90/00 ,  A61B17/04 ,  A61B17/29

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00057 ,  A61B2017/00477 ,  A61B2017/0477 ,  A61B2017/2906 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/305 ,  A61B2090/3614 ,  B25J9/1635 ,  B25J18/06 ,  B25J19/025 ,  Y10S901/09 ,  Y10S901/28 ,  Y10S901/46 ,  Y10S901/47 ,  Y10T29/49826 ,  Y10T74/20305

Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.

公开(公告)号：US20180185110A1

公开(公告)日：2018-07-05

申请号：US15866858

申请日：2018-01-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Rajesh Kumar ,  Brian D. Hoffman ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin ,  Frederic H. Moll ,  Stephen J. Blumenkranz ,  Gunter D. Niemeyer ,  J. Kenneth Salisbury, JR. ,  Yulun Wang ,  Modjtaba Ghodoussi ,  Darrin R. Uecker ,  James W. Wright ,  Amante A. Mangaser ,  Ranjan Mukherjee

IPC: A61B34/37 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  G09B23/28 ,  A61B1/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20180042680A1

公开(公告)日：2018-02-15

申请号：US15725271

申请日：2017-10-04

Applicant: Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University c/o Johns Hopkins Technology Transfer

Inventor： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC: A61B8/12 ,  A61B1/00 ,  A61B8/00 ,  A61B17/00

CPC classification number: A61B34/10 ,  A61B1/00193 ,  A61B8/00 ,  A61B8/12 ,  A61B8/4245 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00203 ,  A61B2090/365 ,  A61B2090/378

Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

公开(公告)号：US09827059B2

公开(公告)日：2017-11-28

申请号：US15161158

申请日：2016-05-20

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 ,  A61B34/00 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

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 teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.

公开(公告)号：US09801690B2

公开(公告)日：2017-10-31

申请号：US15597558

申请日：2017-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Brian D. Hoffman ,  Paul W. Mohr

IPC: A61B17/00 ,  A61B34/20 ,  A61B34/10 ,  B25J9/16 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B1/04 ,  A61B1/00

CPC classification number: A61B34/20 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/04 ,  A61B17/00234 ,  A61B34/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/371 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45123 ,  G05B2219/45169 ,  G06T7/0012

Abstract: A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.