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    SYSTEM FOR DETERMINING THE SHAPE OF A BENDABLE INSTRUMENT
    1.
    发明申请
    SYSTEM FOR DETERMINING THE SHAPE OF A BENDABLE INSTRUMENT 有权

    公开(公告)号：US20210369082A1

    公开(公告)日：2021-12-02

    申请号：US17389942

    申请日：2021-07-30

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Kevin Durant ,  David S. Mintz ,  Robert M. Ohline

    IPC: A61B1/005 ,  A61B34/20 ,  A61B5/06 ,  A61M25/01 ,  A61B1/00

    Abstract: A system comprises an instrument having a bendable portion with first and control elements extending in the bendable portion and a control system operably coupled to an actuator and a sensor. The control system operates to, while the bendable portion is in a neutral position, command the actuator to move the first control element a first amount until slack is removed from the first control element and command the actuator to move the second control element a second amount until slack is removed from the second control element. The control system also receives a first control element calibration position after moving the first control element the first amount and receives a second control element calibration position after moving the second control element the second amount. The control system also commands the actuator to bend the bendable portion from the neutral position and determine a resulting shape of the bendable portion.

    SURGICAL INSTRUMENT WITH ROBOTIC AND MANUAL ACTUATION FEATURES
    6.
    发明申请
    SURGICAL INSTRUMENT WITH ROBOTIC AND MANUAL ACTUATION FEATURES 审中-公开

    公开(公告)号：US20200022766A1

    公开(公告)日：2020-01-23

    申请号：US16575095

    申请日：2019-09-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC

    Inventor： Paul A. Millman ,  David W. Bailey ,  Dean F. Hoornaert ,  David Q. Larkin ,  David S. Mintz

    IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61M1/00 ,  A61M13/00

    Abstract: In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.

    TOOL POSITION AND IDENTIFICATION INDICATOR DISPLAYED IN A BOUNDARY AREA OF A COMPUTER DISPLAY SCREEN
    7.
    发明申请
    TOOL POSITION AND IDENTIFICATION INDICATOR DISPLAYED IN A BOUNDARY AREA OF A COMPUTER DISPLAY SCREEN 审中-公开

    公开(公告)号：US20170305016A1

    公开(公告)日：2017-10-26

    申请号：US15638172

    申请日：2017-06-29

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David Q. Larkin ,  Thomas R. Nixon ,  David S. Mintz

    IPC: B25J9/16 ,  A61B90/00 ,  A61B34/10 ,  A61B17/00 ,  A61B1/00 ,  A61B34/20

    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.

    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT
    9.
    发明申请
    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT 有权
    用于远程微型外科手术仪器的主对齐

    公开(公告)号：US20130245641A1

    公开(公告)日：2013-09-19

    申请号：US13839438

    申请日：2013-03-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC: A61B19/00

    CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

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