公开(公告)号：US12256891B2

公开(公告)日：2025-03-25

申请号：US16536868

申请日：2019-08-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert Eno ,  Amir Belson ,  David Blaha ,  David Mintz ,  Bruce R. Woodley

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B5/00 ,  A61B5/06

Abstract: A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.

公开(公告)号：US10426412B2

公开(公告)日：2019-10-01

申请号：US15156686

申请日：2016-05-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert Eno ,  Amir Belson ,  David Blaha ,  David Mintz ,  Bruce R. Woodley

IPC: A61B1/00 ,  A61B1/04 ,  A61B5/00 ,  A61B1/005 ,  A61B1/008 ,  A61B5/06

Abstract: The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present invention also relates to a system and method for limiting the amount the steerable distal portion can bend overall to reduce or eliminate the user's ability to over-retroflex the steerable distal portion of the endoscope.

公开(公告)号：US09357901B2

公开(公告)日：2016-06-07

申请号：US14039147

申请日：2013-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert Eno ,  Amir Belson ,  David Blaha ,  David Mintz ,  Bruce Robert Woodley

IPC: A61B1/04 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B5/00

CPC classification number: A61B5/7435 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B5/06 ,  A61B5/743

Abstract: A system for graphically visualizing an orientation of a steerable distal portion of an elongate instrument is disclosed. The system includes an instrument having an elongate body. The elongate body includes a proximal portion and a steerable distal portion. The system also includes at least one tensioning member attached to said steerable distal portion, wherein the actuation of said at least one tensioning member results in an approximate y-bend and an approximate x-bend of said steerable distal portion, and wherein said approximate y-bend and approximate x-bend define an approximate overall bend of said steerable distal portion. The system further includes a graphical user interface and an icon representing said approximate overall bend on said graphical user interface.

Abstract translation: 公开了一种用于图形地可视化细长仪器的可转向远端部分的方向的系统。 该系统包括具有细长主体的仪器。 细长体包括近端部分和可操纵远端部分。 所述系统还包括附接到所述可操纵远侧部分的至少一个张紧构件，其中所述至少一个张紧构件的致动导致所述可操纵远侧部分的近似的y形弯曲和近似x形弯曲，并且其中所述近似y 端部和近似x形弯曲限定所述可转向远端部分的近似整体弯曲。 系统还包括图形用户界面和表示所述图形用户界面上的所述近似整体弯曲的图标。