公开(公告)号：US12029426B2

公开(公告)日：2024-07-09

申请号：US17281578

申请日：2019-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul Millman ,  William Burbank ,  Nina Frankel ,  Steven D. Wexner

IPC: A61B17/115 ,  A61B17/00 ,  A61B17/11 ,  A61B34/37

CPC classification number: A61B17/115 ,  A61B2017/00367 ,  A61B2017/1142 ,  A61B34/37

Abstract: A surgical stapler for applying a suture to tissue includes a first jaw and a second jaw configured to receive a cartridge. An actuation mechanism translates a drive member distally through the first and second jaws to apply staples to tissue such that a suture, in combination with the staples, forms a purse string when the stapler activated. The cartridge includes a first upper portion and a second lower portion.

公开(公告)号：US20210386427A1

公开(公告)日：2021-12-16

申请号：US17281578

申请日：2019-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul Millman ,  William Burbank ,  Nina Frankel ,  Steven D. Wexner

IPC: A61B17/115

Abstract: A surgical stapler for applying a suture to tissue includes a first jaw and a second jaw configured to receive a cartridge. An actuation mechanism translates a drive member distally through the first and second jaws to apply staples to tissue such that a suture, in combination with the staples, forms a purse string when the stapler activated. The cartridge includes a first upper portion and a second lower portion.

公开(公告)号：US10898287B2

公开(公告)日：2021-01-26

申请号：US16781457

申请日：2020-02-04

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: A61B34/00 ,  A61B34/35 ,  A61B18/12 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US10575909B2

公开(公告)日：2020-03-03

申请号：US15796016

申请日：2017-10-27

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 ,  A61B34/35 ,  A61B18/12 ,  A61B34/30 ,  A61B34/00 ,  A61B18/14 ,  A61B17/00 ,  A61B18/00

Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

公开(公告)号：US09827059B2

公开(公告)日：2017-11-28

申请号：US15161158

申请日：2016-05-20

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 ,  A61B34/35 ,  A61B18/12 ,  A61B34/00 ,  A61B34/30 ,  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 teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.

公开(公告)号：US09597153B2

公开(公告)日：2017-03-21

申请号：US14660321

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul Mohr ,  Michael Hanuschik ,  Paul Millman

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B2090/035 ,  A61B2090/508

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

公开(公告)号：US11439472B2

公开(公告)日：2022-09-13

申请号：US16847267

申请日：2020-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Gregory K. Toth ,  Thomas R. Nixon

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

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US20200237456A1

公开(公告)日：2020-07-30

申请号：US16847267

申请日：2020-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Hubert Stein ,  Paul Millman ,  David W. Bailey ,  William C. Nowlin ,  Gregory K. Toth ,  Thomas R. Nixon

IPC: A61B34/30 ,  A61B34/37

Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

公开(公告)号：US20180214225A1

公开(公告)日：2018-08-02

申请号：US15927978

申请日：2018-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce M. Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  A61B1/00 ,  A61B34/00 ,  B25J9/16

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US09949801B2

公开(公告)日：2018-04-24

申请号：US15359405

申请日：2016-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: G06F19/00 ,  A61B34/37 ,  A61B34/00 ,  A61B1/00 ,  B25J9/16

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.