公开(公告)号：US12161321B2

公开(公告)日：2024-12-10

申请号：US18158069

申请日：2023-01-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Kevin Durant ,  Patrick Flanagan ,  David W. Robinson

IPC: A61B17/072 ,  A61B17/068 ,  A61B17/00 ,  A61B17/115 ,  A61B90/00

Abstract: Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

公开(公告)号：US11723742B2

公开(公告)日：2023-08-15

申请号：US17404289

申请日：2021-08-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/00 ,  G05D1/00

CPC classification number: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/007 ,  G05D1/0011 ,  A61B34/30 ,  A61B2050/185

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

公开(公告)号：US11589863B2

公开(公告)日：2023-02-28

申请号：US16941476

申请日：2020-07-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Kevin Durant ,  Patrick Flanagan ,  David W. Robinson

IPC: A61B17/072 ,  A61B17/068 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

Abstract: Systems and methods for controlling staple firing include an end effector, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The end effector includes a first jaw and a second jaw holding staples. The processor is configured to monitor the applied force or torque to cause staple firing to occur and maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing, when the applied force or torque is outside an acceptable range of force or torque.

公开(公告)号：US11234778B2

公开(公告)日：2022-02-01

申请号：US16349208

申请日：2017-11-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/98 ,  A61B34/20 ,  A61B90/00

Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

公开(公告)号：US10758226B2

公开(公告)日：2020-09-01

申请号：US15836506

申请日：2017-12-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Kevin Durant ,  Patrick Flanagan ,  David W. Robinson

IPC: A61B17/072 ,  A61B17/068 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

Abstract: Systems and methods for controlling staple firing include an end effector including a first jaw and a second jaw holding staples, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The processor is configured to monitor the applied force or torque and control application of the force or torque by the drive system based on a comparison of the applied force or torque to an acceptable range of force or torque. In some embodiments, the processor is further configured to determine one or more of a position of the first jaw and the second jaw or a displacement of the drive system and control application of the force or torque by the drive system based on one or more of the position of the first jaw and the second jaw or the displacement of the drive system.

公开(公告)号：US20190380798A1

公开(公告)日：2019-12-19

申请号：US16489735

申请日：2018-03-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  David W. Robinson

IPC: A61B34/35 ,  A61B1/313 ,  A61B1/00

Abstract: A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

公开(公告)号：US20180325606A1

公开(公告)日：2018-11-15

申请号：US16009014

申请日：2018-06-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David W. Robinson ,  John W. Zabinski

IPC: A61B34/00 ,  G06F3/14 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00 ,  A61B17/072 ,  A61B17/28 ,  A61B17/29 ,  B25J9/16 ,  A61B34/30 ,  G06F3/16 ,  G06F3/01

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

Abstract: Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

公开(公告)号：US09375288B2

公开(公告)日：2016-06-28

申请号：US14642163

申请日：2015-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson ,  Thomas R. Nixon ,  Michael Hanuschik ,  Randal P. Goldberg ,  Jason Hemphill ,  David Q. Larkin ,  Paul Millman

IPC: G06F19/00 ,  A61B19/00 ,  A61B18/12 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B34/35 ,  A61B18/1206 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/76 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2017/00973 ,  A61B2018/00988

Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.

公开(公告)号：US11832900B2

公开(公告)日：2023-12-05

申请号：US17306721

申请日：2021-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David W. Robinson ,  John W. Zabinski

IPC: A61B34/00 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  B25J9/1694 ,  G06F3/14 ,  A61B34/30 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  G06F3/016 ,  G06F3/16

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

公开(公告)号：US11813029B2

公开(公告)日：2023-11-14

申请号：US17110246

申请日：2020-12-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Robinson

IPC: A61B34/20 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B17/072 ,  A61B90/98 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B18/14 ,  A61B18/1445 ,  A61B34/30 ,  A61B90/98 ,  A61B2017/00022 ,  A61B2017/00398 ,  A61B2017/07285 ,  A61B2018/1455 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2090/0803

Abstract: Systems and methods for cutting element indication include an end effector having a jaw for clamping a material and a cutting element within the end effector and a processor. The cutting element is moveable relative to the end effector. The cutting element is driven by a drive element and a mechanism coupling the drive element to the cutting element. The processor is configured to determine a position of the cutting element relative to the end effector via a displacement of the drive element and a displacement of the mechanism and display, on a user interface, an indicator of the position of the cutting element relative to the end effector.