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71.发明申请公开(公告)号：US20160206388A1
公开(公告)日：2016-07-21
申请号：US15079411
申请日：2016-03-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Maria Prisco
CPC classification number: A61B34/30 , A61B17/29 , A61B34/35 , A61B2017/003 , A61B2017/00318 , A61B2017/00867 , A61B2017/2905 , A61B2017/2908 , A61B2034/301
Abstract: A surgical instrument has a tip section with several degrees of freedom of articulation and at least one link that may be too long for insertion through an entry guide that follows a curved path. Each long link is made of a shape memory alloy or another material having a state in which the link is sufficiently flexible to bend as needed to pass through the entry guide. Once through the entry guide, the material of the link makes a transition to a state in which the link returns to a desired shape and is sufficiently rigid for precise controlled movement against external forces and for actuation using tendons.
Abstract translation: 外科器械具有具有几个关节自由度的尖端部分，以及至少一个可能通过沿着弯曲路径的入口引导件插入太长的连杆。 每个长链接由形状记忆合金或具有其中链节足够柔性以根据需要弯曲以通过入口引导件的状态的另一种材料制成。 一旦通过进入引导件，链接的材料就转变到链接返回到所需形状的状态，并且具有足够的刚性，以便针对外力的精确控制运动和使用腱的致动。
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72.发明授权公开(公告)号：US09271798B2
公开(公告)日：2016-03-01
申请号：US13965581
申请日：2013-08-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David 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 Mauherjee
IPC: G05B19/418 , A61B19/00 , 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.
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73.发明申请METHOD AND SYSTEM FOR DETERMINING A SHAPE OF A LUMEN IN AN ANATOMICAL STRUCTURE 审中-公开用于确定解剖结构中的光的形状的方法和系统公开(公告)号：US20150148690A1
公开(公告)日：2015-05-28
申请号：US14531016
申请日：2014-11-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Prashant Chopra , Caitlin Q. Donhowe , Vincent Duindam , Giuseppe Maria Prisco
CPC classification number: A61B5/0084 , A61B1/00009 , A61B1/00055 , A61B1/0051 , A61B1/2676 , A61B5/0037 , A61B5/02007 , A61B5/02028 , A61B5/08 , A61B5/20 , A61B5/4064 , A61B5/42 , A61B5/6852 , A61B5/7475 , A61B34/20 , A61B2017/00323 , A61B2017/00699 , A61B2017/00703 , A61B2034/107 , A61B2034/2061 , A61B2090/3614 , A61B2090/367 , A61B2576/023 , A61B2576/026 , G06T7/75 , G06T19/003 , G06T2207/10068
Abstract: A medical system provides navigation assistance to a surgeon so that the surgeon may navigate a flexible medical device through linked passages of an anatomical structure to a target in or adjacent to the anatomical structure. As the medical device moves through the linked passages, images are captured by an image capturing element at its distal end and pose and shape information for the medical device are received from sensors disposed in the medical device. A 4-D computer model of the anatomical structure is registered to the medical device using one or both of 4-D shape registration and virtual camera registration so that the captured image and a virtual image generated from the perspective of a virtual camera are registered to each other and displayed while providing an indication of a navigational path to the target.
Abstract translation: 医疗系统为外科医生提供导航辅助，使得外科医生可以通过解剖结构的连接通道导航柔性医疗装置到解剖结构中或与解剖结构相邻的靶。 当医疗装置移动通过连接的通道时，图像被其远端处的图像捕获元件捕获，并且姿态和医疗装置的形状信息从设置在医疗装置中的传感器接收。 解剖结构的4-D计算机模型使用4-D形状配准和虚拟照相机登记中的一个或两个向医疗装置登记，从而将捕获的图像和从虚拟照相机的角度生成的虚拟图像登记到 彼此并且显示，同时提供到目标的导航路径的指示。
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74.发明申请公开(公告)号：US20150073435A1
公开(公告)日：2015-03-12
申请号：US14490090
申请日：2014-09-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
Abstract translation: 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。
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公开(公告)号：US20140024951A1
公开(公告)日：2014-01-23
申请号：US13944999
申请日：2013-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Peter M. HERZLINGER , Giuseppe Maria Prisco , Vincent Duindam , David Q. Larkin
CPC classification number: A61B5/0084 , A61B1/00009 , A61B1/0005 , A61B1/00096 , A61B1/00165 , A61B1/00167 , A61B1/00181 , A61B1/00183 , A61B1/00193 , A61B1/0607 , A61B1/0676 , A61B1/0684 , A61B1/2676 , A61B5/08 , A61B5/6852 , A61B2576/00
Abstract: A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors and combine image data from the receptors to construct a visual representation of the entirety of the object environment.
Abstract translation: 可用于导管或类似导向仪器的视觉系统包括分布在环形区域中的受体。 每个受体具有仅覆盖对象环境的一部分的视场，并且每个受体的视野与其它受体的视场中的至少一个重叠。 处理系统可以从受体接收图像数据并且组合来自受体的图像数据以构建整个对象环境的视觉表示。
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Patent Agency Ranking
76.发明申请公开(公告)号：US20130331859A1
公开(公告)日：2013-12-12
申请号：US13965581
申请日：2013-08-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Rajesh Kumar , Brian David 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 Mauherjee
IPC: A61B19/00
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.
Abstract translation: 用于微创外科手术中的协作或训练的多用户医疗机器人系统包括第一和第二主输入设备，第一从机器人机构和至少一个处理器，该至少一个处理器被配置为通过可切换地产生第一从机器人机构的第一从机命令 使用指示由第一用户操纵第一主输入设备的第一命令中的一个或两个指示由第二用户操纵第二主输入设备的第二命令。 为了促进协作或训练，第一和第二用户通过音频系统相互通信，并且可以看到第一和第二显示器上的微创外科手术部位，分别可由第一和第二用户观看。
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公开(公告)号：US12295718B2
公开(公告)日：2025-05-13
申请号：US18154211
申请日：2023-01-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Vincent Duindam , Simon P. DiMaio , David Q. Larkin , Dorin Panescu , Giuseppe Maria Prisco
Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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公开(公告)号：US20240122587A1
公开(公告)日：2024-04-18
申请号：US18532598
申请日：2023-12-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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公开(公告)号：US20240115331A1
公开(公告)日：2024-04-11
申请号：US18535819
申请日：2023-12-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Giuseppe Maria Prisco
IPC: A61B34/30
CPC classification number: A61B34/30 , A61B2034/715
Abstract: An instrument system includes actuators, an instrument, and a control system. The instrument includes joints and transmission systems that couple the joints with the actuators. A first joint is distal to a second joint, a first transmission system passes through the second joint to couple to the first joint, and a second transmission system couples to the second joint. The control system is programmed to determine a first tension to be applied by the first transmission system, determine a first estimate of an interaction response that results at the second joint from applying the first tension by the first transmission system, determine a second tension to be applied by the second transmission system based on a first set of parameters, the first set of parameters including the first estimate, and command the actuators such that the first and second transmission systems apply the first and second tensions, respectively.
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公开(公告)号：US11871914B2
公开(公告)日：2024-01-16
申请号：US17111667
申请日：2020-12-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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