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    Modular clamps for mounting surgical manipulators
    1.
    发明授权
    Modular clamps for mounting surgical manipulators 有权

    公开(公告)号：US12285301B2

    公开(公告)日：2025-04-29

    申请号：US17444158

    申请日：2021-07-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Ryan C. Abbott ,  Daniel H. Gomez ,  John Ryan Steger

    IPC: A61B90/57 ,  A61B34/00 ,  A61B90/35

    Abstract: A system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

    Association processes and related systems for manipulators
    2.
    发明授权
    Association processes and related systems for manipulators 有权

    公开(公告)号：US12257011B2

    公开(公告)日：2025-03-25

    申请号：US18640936

    申请日：2024-04-19

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

    IPC: A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  G16H40/60

    Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS
    7.
    发明公开
    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS 审中-公开

    公开(公告)号：US20240268905A1

    公开(公告)日：2024-08-15

    申请号：US18640936

    申请日：2024-04-19

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

    IPC: A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  G16H40/60

    CPC classification number: A61B34/30 ,  A61B90/361 ,  G16H40/60 ,  A61B2017/00199 ,  A61B2090/365

    Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

    Rotatable carriage for an instrument holder
    8.
    发明授权
    Rotatable carriage for an instrument holder 有权

    公开(公告)号：US12004832B2

    公开(公告)日：2024-06-11

    申请号：US17444166

    申请日：2021-07-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Andrew Cullen Waterbury ,  Daniel H. Gomez ,  John Ryan Steger

    IPC: B25J9/04 ,  A61B34/00 ,  A61B34/35 ,  B25J5/00

    CPC classification number: A61B34/70 ,  A61B34/35 ,  B25J5/005 ,  B25J9/04

    Abstract: An instrument holder generally includes a carriage support having an output drive and a carriage configured to removably couple an instrument thereto, the carriage may have a lateral opening extending radially outward from a central axis of the carriage, and the lateral opening may be configured to receive a portion of the instrument therein. The carriage may further include a positioning member disposed on an outer surface of the such that rotation of the output drive changes an angular position of the carriage relative to the carriage support. The positioning member may be configured to allow the output drive to operably couple with the carriage at an engagement point adjacent to the lateral opening. The carriage may include a positionable door or a fin extending into the lateral opening to allow the output drive to drive the carriage around a full 360 degree rotation or greater.

    SYSTEMS AND METHODS FOR DETERMINING REGISTRATION OF ROBOTIC MANIPULATORS OR ASSOCIATED TOOLS AND CONTROL
    9.
    发明申请
    SYSTEMS AND METHODS FOR DETERMINING REGISTRATION OF ROBOTIC MANIPULATORS OR ASSOCIATED TOOLS AND CONTROL 有权

    公开(公告)号：US20230116795A1

    公开(公告)日：2023-04-13

    申请号：US17913665

    申请日：2021-03-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Daniel H. Gomez ,  Arsen Babayan ,  Raul Herrera Barcenas ,  Marc E. Tognaccini

    IPC: B25J9/16

    Abstract: A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.

    SYSTEMS AND METHODS FOR A COMPACT REMOTE CENTER MANIPULATOR
    10.
    发明申请
    SYSTEMS AND METHODS FOR A COMPACT REMOTE CENTER MANIPULATOR 有权

    公开(公告)号：US20210378771A1

    公开(公告)日：2021-12-09

    申请号：US17330672

    申请日：2021-05-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

    IPC: A61B34/00 ,  A61B34/35 ,  B25J9/10

    Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.

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