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公开(公告)号：US20160310115A1
公开(公告)日：2016-10-27
申请号：US15134836
申请日：2016-04-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Prisco, SR. , Theodore W. Rogers , John Ryan Steger
Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
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82.发明申请ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL 审中-公开用于控制工具运动的框架的位置和方位的估计公开(公告)号：US20160206387A1
公开(公告)日：2016-07-21
申请号：US14997257
申请日：2016-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John Ryan Steger , David Q. Larkin
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , B25J9/1689 , B25J9/1697
Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
Abstract translation: 机器人系统包括具有图像帧的照相机，其相对于固定帧的位置和取向可通过一个或多个图像帧变换来确定，工具设置在照相机的视野内，并且具有工具框架，其位置和取向相对 通过一个或多个工具框架变换可以确定固定框架，并且至少一个处理器被编程为从一个或多个摄像机捕获的图像识别工具的姿势指示点，确定图像和工具框架中的未知图像的估计变换 使用所识别的姿势指示点和已知的图像和工具帧变换来变换，使用估计和已知的图像和工具帧变换来更新主对工具变换，以及响应于移动的工具的命令移动 的主人使用更新的主对工具变换。
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公开(公告)号：US20160128792A1
公开(公告)日：2016-05-12
申请号：US14996863
申请日：2016-01-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Theodore W. Rogers , John Ryan Steger
CPC classification number: A61B34/71 , A61B17/285 , A61B17/29 , A61B34/30 , A61B46/10 , A61B90/50 , A61B2017/00477
Abstract: A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.
Abstract translation: 一种系统包括医疗器械，其包括终端固定装置，致动元件以及耦合到致动元件并延伸到终端固定装置的驱动构件。 终端固定器提供了一个接口，该接口暴露驱动构件的一部分以引导由可能包括操纵器和无菌屏障的外部系统的移动。
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公开(公告)号：US12239402B2
公开(公告)日：2025-03-04
申请号：US17444162
申请日：2021-07-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Andrew Cullen Waterbury , Daniel H. Gomez , John Ryan Steger
Abstract: An instrument holder generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage, and an electrical conductor extending through the carriage radially outward of the light pipe. The light pipe can transmit light energy and the electrical conductor can transmit electricity between a proximal end portion and a distal end portion of the carriage to a medical instrument. The rotatable carriage may include a sterile adapter assembly positioned at the proximal and/or distal end portions of the rotatable carriage. The sterile adapter assembly may include a roll disk rotatable with respect to the outer frame, an inner disk rotatable with respect to the roll disk, and a light pipe to transmit light energy through the roll disk. The inner disk can transfer movement of an actuator between the rotatable carriage and the instrument.
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公开(公告)号：US12114947B2
公开(公告)日：2024-10-15
申请号：US17459120
申请日：2021-08-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrissette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
CPC classification number: A61B34/35 , A61B1/3132 , A61B2017/00477 , A61B17/4241 , A61B2034/302 , A61B2090/3941 , A61B2090/3945 , A61B2090/3983
Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.
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Patent Agency Ranking
公开(公告)号：US12004912B2
公开(公告)日：2024-06-11
申请号：US17053239
申请日：2019-04-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel H. Gomez , John Ryan Steger
CPC classification number: A61B90/50 , A61B34/35 , A61B34/70 , A61B2090/571
Abstract: A medical device system includes: an auxiliary rail including a frame and a flange extending from the frame; and a surgical arm mounting device including a coupler and a surgical arm interface. The frame is configured to be mounted on a side rail of an operating table. The coupler includes a clamp for the flange of the auxiliary table rail. The clamp of the coupler has a first mechanical state in which the mounting device is fixed to the auxiliary rail and a second mechanical state in which the mounting device is translatable along the auxiliary rail. The surgical arm interface receives a mating mounting device interface of a surgical arm.
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公开(公告)号：US11986259B2
公开(公告)日：2024-05-21
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
CPC classification number: A61B34/30 , A61B90/361 , G16H40/60 , A61B2017/00199 , A61B2090/365
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：US11980434B2
公开(公告)日：2024-05-14
申请号：US16971277
申请日：2019-02-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Dinesh Rabindran , Ryan C. Abbott , Daniel H. Gomez , John Ryan Steger
IPC: A61B18/12 , A61B17/29 , A61B17/3201 , A61B18/14 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , B25J9/10 , B25J9/16 , B25J13/08 , A61B17/34 , A61B18/00 , A61B34/30
CPC classification number: A61B34/35 , A61B17/2909 , A61B17/3201 , A61B18/1445 , A61B34/37 , A61B34/71 , A61B90/06 , B25J9/104 , B25J9/1633 , B25J9/1641 , B25J13/085 , A61B17/3421 , A61B2018/00595 , A61B2034/301 , A61B2090/064 , A61B2090/066
Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.
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公开(公告)号：US11974826B2
公开(公告)日：2024-05-07
申请号：US18081383
申请日：2022-12-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
CPC classification number: A61B34/35 , A61B34/30 , A61B50/20 , A61B90/50 , B25J9/106 , B25J9/1689 , A61B2017/00464 , A61B2017/00477 , A61B17/3423 , A61B2034/301 , A61B2034/305
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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公开(公告)号：US20230112200A1
公开(公告)日：2023-04-13
申请号：US18081383
申请日：2022-12-14
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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