公开(公告)号：US11684758B2

公开(公告)日：2023-06-27

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/0052 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/065 ,  A61B10/02 ,  A61B10/04 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61B1/0057 ,  A61B5/062 ,  A61B5/6852 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

公开(公告)号：US11478308B2

公开(公告)日：2022-10-25

申请号：US16910818

申请日：2020-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US11252141B2

公开(公告)日：2022-02-15

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: A61B17/24 ,  G01B11/24 ,  A61B34/30 ,  A61B34/20 ,  H04L29/06 ,  H04W4/80 ,  H04W12/06 ,  A61B18/20 ,  A61B18/00 ,  G01D5/353

Abstract: A system comprises a teleoperated manipulator, a manually operated surgical instrument coupled to the teleoperated manipulator, a teleoperated surgical instrument coupled to the teleoperated manipulator, and a shape sensor comprising a first portion and a second portion. The first portion of the shape sensor is coupled to a proximal end of a cannula, and the second portion of the shape sensor is coupled to the manually operated surgical instrument. The shape sensor is configured to provide a sensor input to a controller, and the sensor input comprises information representing an insertion depth of the manually operated surgical instrument into the cannula.

公开(公告)号：US11116578B2

公开(公告)日：2021-09-14

申请号：US15371154

申请日：2016-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  David Q. Larkin ,  Giuseppe Maria Prisco ,  Guanghua G. Zhang ,  Rajesh Kumar

IPC: A61B34/20 ,  A61B5/06 ,  A61B34/30 ,  A61B90/00 ,  A61B34/37 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/10 ,  A61B5/00

Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US20210016061A1

公开(公告)日：2021-01-21

申请号：US16927332

申请日：2020-07-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61M25/01 ,  A61B34/30

Abstract: A medical system including a catheter containing a mechanical system that is remotely operable uses a sensor to at least partly measure a pose of the catheter and a control system coupled to the mechanical system. The control system has multiple operating modes including one or more holding modes in which the control system operates the mechanical system to maintain a working configuration of the catheter based on feedback from the sensor.

公开(公告)号：US20200267128A1

公开(公告)日：2020-08-20

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: H04L29/06 ,  H04W4/80 ,  H04W12/06

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

公开(公告)号：US20200170725A1

公开(公告)日：2020-06-04

申请号：US16779564

申请日：2020-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John R. Steger ,  David Q. Larkin

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame, and at least one processor coupled to the control device and the manipulator. The at least one processor is configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.

公开(公告)号：US10653866B2

公开(公告)日：2020-05-19

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Catherine J. Mohr ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe

IPC: A61B1/00 ,  A61M25/06 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/00 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.

公开(公告)号：US20200146761A1

公开(公告)日：2020-05-14

申请号：US16745906

申请日：2020-01-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/30

Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

公开(公告)号：US10588703B2

公开(公告)日：2020-03-17

申请号：US15014559

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01B11/24 ,  A61B34/00 ,  A61B34/20 ,  G01D5/353

Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.