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1.发明申请公开(公告)号：US20220273280A1
公开(公告)日：2022-09-01
申请号：US17762327
申请日：2020-09-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel B. Schorr , Nicola Diolaiti , Wanxi Liu
Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.
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公开(公告)号：US11903777B2
公开(公告)日：2024-02-20
申请号：US16763171
申请日：2018-11-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Joseph A Kemp , Federico Barbagli , Joseph R. Callol , Vincent Duindam , Lucas S. Gordon , Randall L. Schlesinger , Samuel B. Schorr , Worth B. Walters
IPC: A61B90/70 , A61M25/00 , A61M39/22 , A61B17/00 , G01F13/00 , G05D7/06 , A61B34/20 , A61B34/37 , A61B1/12 , A61B1/267
CPC classification number: A61B90/70 , A61B17/00234 , A61M25/00 , A61M39/223 , G01F13/00 , G05D7/0623 , A61B1/125 , A61B1/2676 , A61B34/37 , A61B2017/00314 , A61B2017/00323 , A61B2034/2051 , A61B2034/2061 , A61B2090/701 , A61B2217/005 , A61B2217/007 , A61M2025/0019 , A61M2205/3334 , A61M2205/50
Abstract: A method for controlling fluid delivery to a medical instrument comprises releasing, from a reservoir of a known size and having fluid at a volume and a first fluid pressure, a released fluid volume of the fluid to the medical instrument. The method also comprises measuring a vented fluid volume and determining a discharged fluid volume through the medical instrument based on the released fluid volume and the vented fluid volume.
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公开(公告)号：US20230320711A1
公开(公告)日：2023-10-12
申请号：US18298495
申请日：2023-04-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , Sang Gyum Kim , Samuel B. Schorr
IPC: A61B17/00
CPC classification number: A61B17/00234 , A61B2017/00318
Abstract: Methods and systems for controlling articulation of a system are described. In some embodiments, a parameter related to a curvature of one or more portions of an articulable portion of elongated body may be determined. The elongated body may include a channel through which a tool may be inserted. Articulation of the articulable portion of the elongated body may be controlled based at least in part on the determined parameter in some modes of operation including when a tool is moved relative to the channel of the elongated body.
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公开(公告)号：US20230017745A1
公开(公告)日：2023-01-19
申请号：US17784021
申请日：2020-12-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel B. Schorr , Nicola Diolaiti
Abstract: A machine is configured to access force data generated by a force sensor, where the force sensor is communicatively coupled to a proximal portion of a flexible elongate device that has a distal portion configured to travel within an environment, and where the force sensor is configured to detect forces and generate the force data therefrom. The machine, based on the force data, identifies an insertion force encountered by the distal portion of the flexible elongate device from among the forces detected by the force sensor. The machine then, based on the identified insertion force, initiates a responsive operation performed by a control system communicatively coupled to the flexible elongate device.
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