公开(公告)号：US20250160982A1

公开(公告)日：2025-05-22

申请号：US19029502

申请日：2025-01-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavule ,  John Ryan Steger

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  H04W12/50

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.

公开(公告)号：US12299873B2

公开(公告)日：2025-05-13

申请号：US17435833

申请日：2020-03-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Shiyang Chen ,  Pechin Chien Pau Lo ,  Tao Zhao

IPC: G06T7/00 ,  A61B34/00 ,  A61B90/00 ,  G06T7/10

Abstract: A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to receive anatomic image data for an anatomic tree structure and generate an initial segmentation of the anatomic image data. The initial segmentation includes a trunk structure and a branched structure unconnected to the trunk structure. The control system is also configured to determine whether to connect the branched structure to the trunk structure based on an assessment of a shape of the branched structure and an assessment of a relationship between the trunk structure and the branched structure.

公开(公告)号：US12298193B2

公开(公告)日：2025-05-13

申请号：US18608258

申请日：2024-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ashwinram Suresh

IPC: G01L1/22 ,  A61B90/00 ,  G01L5/1627

Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

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

IPC: A61B5/06 ,  A61B10/02 ,  A61B17/3209 ,  A61B17/34 ,  A61B34/20 ,  A61B10/04 ,  A61B17/00 ,  A61B34/10

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.

公开(公告)号：US12295691B2

公开(公告)日：2025-05-13

申请号：US17507937

申请日：2021-10-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William A. Burbank ,  Gregory W. Dachs, II ,  Bruce M. Schena

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  B25J9/10

Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.

公开(公告)号：US20250143815A1

公开(公告)日：2025-05-08

申请号：US19018315

申请日：2025-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

Abstract: Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.

公开(公告)号：US12293472B2

公开(公告)日：2025-05-06

申请号：US17793595

申请日：2021-01-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Maximilian H. Allan ,  Mahdi Azizian ,  A. Jonathan McLeod

IPC: G06T19/00 ,  G06T7/20 ,  G06T7/50

Abstract: An exemplary object masking system is configured to mask a recognized object during an application of a synthetic element to an original image. For example, the object masking system accesses a model of a recognized object depicted in an original image of a scene. The object masking system associates the model with the recognized object. The object masking system then generates presentation data for use by a presentation system to present an augmented version of the original image in which a synthetic element added to the original image is, based on the model as associated with the recognized object, prevented from occluding at least a portion of the recognized object. In this way, the synthetic element is made to appear as if located behind the recognized object. Corresponding systems and methods are also disclosed.

公开(公告)号：US20250134610A1

公开(公告)日：2025-05-01

申请号：US18835266

申请日：2023-01-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Sundar Murugappan ,  Mitchell Doughty ,  Govinda Payyavula ,  Matthew S. Warren

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

Abstract: A non-transitory machine-readable media may store instructions that, when run by one or more processors, cause the one or more processors to generate stereo endoscopic image data of a medical field and define a medical field volume from the stereo endoscopic image data. The processors may also project a 3D representation of the medical field volume to an extended-reality display device in a remote volume. The 3D representation may include a stereoscopic image and a 3D scene generated from the stereo endoscopic image data. The processors may also generate visual guidance in the remote volume to augment the stereo endoscopic image, map the visual guidance from the remote volume to the medical field volume to generate an augmented image of the medical field volume, and project the augmented image of the medical field volume to a display device viewed by an operator of instruments in the medical field.

公开(公告)号：US20250134608A1

公开(公告)日：2025-05-01

申请号：US19005692

申请日：2024-12-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DiMaio ,  Gerard J. Labonville ,  Kollin M. Tierling

IPC: A61B34/35 ,  A61B1/00 ,  A61B17/02 ,  A61B17/068 ,  A61B17/128 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3201 ,  A61B18/00 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  G05B19/4155 ,  G16H30/40 ,  G16H40/67 ,  H04N23/50 ,  H04N23/54

Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

公开(公告)号：US12285161B2

公开(公告)日：2025-04-29

申请号：US17538220

申请日：2021-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christina J. Shuh ,  Ralph Wadensweiler ,  Kyle R. Miller

IPC: A61B17/02 ,  A61B17/00 ,  A61B34/35

Abstract: A support apparatus for a medical device includes a first sleeve, a second sleeve, and a flexible contact member. The first sleeve is configured to be coupled to a first tool member of an end effector assembly that includes the first tool member, a second tool member, and a clevis, in which the first and second tool members are each rotatably coupled to the clevis such that second tool member can be moved relative to the first tool member between a first and a second orientation. The second sleeve is configured to be coupled to the second tool member. The flexible contact member is coupled to the first sleeve and the second sleeve, and is configured be moved between a collapsed configuration when the second tool member is in the first orientation and an expanded configuration when the second tool member is in the second orientation.