公开(公告)号：US10959807B2

公开(公告)日：2021-03-30

申请号：US15975359

申请日：2018-05-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert M. Ohline ,  Katherine Whitin ,  Amir Belson ,  Christopher D. Justice

IPC: A61B90/98 ,  A61B1/31 ,  A61B1/005 ,  A61B8/00 ,  A61B5/06 ,  A61B34/20 ,  A61B90/00

Abstract: A system may comprise an instrument with an elongate body portion to be moved along a path, one or more datums, and a plurality of sense elements disposed at positions spaced along a length of the elongate body portion. Each sense element may sense or be sensed by one of the datums when in proximity to the datum. The system may also include a processor configured to compare signals transmitted from the datums or from the sense elements, including a first signal and a second signal, and identify, based on the comparison, a state of motion of the elongate body chosen from a state of motion in a forward direction (insertion) along a path and a state of motion in a rearward direction (withdrawal) along the path. The processor may identify the state of motion of the elongate body based on whether the first signal is lower than or higher than the second signal and whether the first and second signals are both increasing or decreasing.

公开(公告)号：US09980778B2

公开(公告)日：2018-05-29

申请号：US14518546

申请日：2014-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert M. Ohline ,  Katherine Whitin ,  Amir Belson ,  Christopher D. Justice

IPC: A61B1/005 ,  A61B5/06 ,  A61B19/00 ,  A61B8/00 ,  A61B1/31 ,  A61B34/20 ,  A61B90/98 ,  A61B90/00

CPC classification number: A61B90/98 ,  A61B1/005 ,  A61B1/31 ,  A61B5/064 ,  A61B5/065 ,  A61B5/068 ,  A61B8/4254 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2090/062 ,  A61B2090/397 ,  A61B2090/3983

Abstract: One RFID equipped instrument includes an elongate body with a plurality of uniquely identified radio frequency identification chips spaced along the length of the elongate body. One system used for determining the position of an instrument includes an instrument; a plurality of radio frequency identification chips attached to the instrument; a reader connected to an antenna and adapted to communicate with each radio frequency identification chip using the antenna. One method for determining the position of an instrument using radio frequency identification chips includes providing a radio frequency identification chip reader and antenna; providing an instrument having a longitudinal axis and comprising a plurality of radio frequency identification chips placed along the longitudinal axis; moving the instrument relative to the antenna; and using information about a radio frequency identification chip detected by the antenna to determine the position of the instrument.