公开(公告)号：US20210145441A1

公开(公告)日：2021-05-20

申请号：US17160288

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.

公开(公告)号：US20240358468A1

公开(公告)日：2024-10-31

申请号：US18767482

申请日：2024-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Angelica RUSZKOWSKI ,  Gabriel F. BRISSON ,  Craig R. GERBI ,  Jason HEMPHILL ,  Mathew NUSSBAUM ,  Harsukhdeep Singh RATIA

IPC: A61B90/00 ,  A61B18/00 ,  A61B18/08 ,  A61B18/14

CPC classification number: A61B90/03 ,  A61B18/085 ,  A61B18/1445 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00678 ,  A61B2018/00875 ,  A61B2090/031 ,  A61B2090/066

Abstract: Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode. One or more control units are configured to operate the first and second jaws in a first mode subject to a first force or torque limit to grip a material; and in response to determining that the first and second jaws are being operated in the first mode, switch to operating the first and seconds jaw in a second mode before applying electrical or thermal energy to the material using the corresponding electrodes. The operating in the second mode is subject to a second force or torque limit, lower than the first force or torque limit, that can be applied by the first and second jaws to grip the material.

公开(公告)号：US20240268899A1

公开(公告)日：2024-08-15

申请号：US18646112

申请日：2024-04-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gabriel F. BRISSON

IPC: A61B34/20 ,  A61B1/00 ,  A61B90/00

CPC classification number: A61B34/20 ,  A61B1/00193 ,  A61B90/37 ,  A61B2034/2048 ,  A61B2034/2055 ,  A61B2090/376 ,  A61B2090/378

Abstract: Techniques for displaying images from an imaging device include a display device and one or more processors coupled to the display device. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device, and display an image from the imaging device on the display device. A position and an orientation of the image on the display device is based on the display-device-to-imaging-window transform. The position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of: an inability of the imaging device to follow a command to move the imaging device, a range of motion limit of the imaging device, or a mismatch in degrees of freedom between the imaging device and the display device.

公开(公告)号：US20230233202A1

公开(公告)日：2023-07-27

申请号：US18194283

申请日：2023-03-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Gabriel F. BRISSON ,  Robert C. REID

IPC: A61B17/04 ,  A61B34/00

CPC classification number: A61B17/0482 ,  A61B34/71 ,  A61B2017/0608

Abstract: Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.

公开(公告)号：US20230173692A1

公开(公告)日：2023-06-08

申请号：US18054692

申请日：2022-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel P. SARALIEV ,  Gabriel F. BRISSON ,  Matthew R. WILLIAMS

IPC: B25J17/02 ,  B25J9/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B50/13 ,  A61B90/00

CPC classification number: B25J17/0241 ,  B25J9/104 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B50/13 ,  A61B90/361 ,  A61B34/71

Abstract: A wrist joint comprises first and second joint features, the first joint feature having a first end surface profile defining a central protrusion, a first outer protrusion, a second outer protrusion, a first recess, and a second recess, wherein the first recess and the second recess are on opposite sides of the central protrusion and between the first outer protrusion and the second outer protrusion, and the second joint feature having a second end surface profile defining a central recess, a first outer recess, a second outer recess, a first protrusion between the central recess and the first outer recess, and a second protrusion between the central recess and the second outer recess, wherein the first protrusion and the second protrusion have an end surface profile different from the end surface profile of the first outer protrusion, the second outer protrusion, and the central protrusion.

公开(公告)号：US20210315643A1

公开(公告)日：2021-10-14

申请号：US17265486

申请日：2019-08-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gabriel F. BRISSON

IPC: A61B34/20 ,  A61B90/00 ,  A61B1/00

Abstract: A system and method of displaying images from an imaging device includes a display device and one or more processors. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement and a corresponding command to move the imaging device, and render an image received from the imaging device on the display device at a position and orientation on the display device based on the display-device-to-imaging-window transform. In some embodiments, the display-device-to-imaging-window transform is determined based on at least one of a difference between: a commanded and an actual position of the imaging device, a commanded and an actual orientation of the imaging device, a commanded and an estimated position of the imaging device, or a commanded and an estimated orientation of the imaging device.

公开(公告)号：US20200290215A1

公开(公告)日：2020-09-17

申请号：US16834447

申请日：2020-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel P. SARALIEV ,  Gabriel F. BRISSON ,  Matthew R. WILLIAMS

IPC: B25J17/02 ,  B25J9/10 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B50/13 ,  A61B90/00

Abstract: A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, a drive tendon connecting the first disc and the second disc. The first disc and the second disc may include respective opposing gear features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces. In response to tensioning the drive tendon, the first and second discs rotate relative to each other. The first and second discs may have a maximum rotational range of motion greater than about +/−45 degrees relative to each other.

公开(公告)号：US20240358370A1

公开(公告)日：2024-10-31

申请号：US18765543

申请日：2024-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Melody WU ,  Gabriel F. BRISSON ,  Kevin DURANT ,  Grant DUQUE

IPC: A61B17/072 ,  A61B1/00 ,  A61B17/00 ,  A61B17/08 ,  A61B17/10 ,  A61B17/29 ,  A61B18/00 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B50/13 ,  A61B50/33 ,  A61B90/00 ,  A61B90/92 ,  A61B90/98 ,  B25J9/16 ,  G01L5/22

CPC classification number: A61B17/07207 ,  A61B1/000095 ,  A61B17/08 ,  A61B17/10 ,  A61B18/1445 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B50/13 ,  A61B50/33 ,  A61B90/92 ,  A61B90/98 ,  B25J9/1633 ,  G01L5/226 ,  A61B2017/00199 ,  A61B2017/00398 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2018/00595 ,  A61B2018/0063 ,  A61B2018/00988 ,  A61B2018/1455 ,  A61B2090/031 ,  Y10S901/29 ,  Y10S901/31

Abstract: Techniques for torque compensation include a system include actuating means coupled to a clamping means and processing means. The processing means is configured to acquire an initial torque limit for the clamping means; adjust the initial torque limit based on an angle of a wrist of the clamping means to obtain an adjusted torque limit; and drive, subject to the adjusted torque limit, the actuating means to cause the clamping means to clamp a material.

公开(公告)号：US20240293121A1

公开(公告)日：2024-09-05

申请号：US18662686

申请日：2024-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/06 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00128 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0725 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/2059 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/066

Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.

公开(公告)号：US20230190262A1

公开(公告)日：2023-06-22

申请号：US17918865

申请日：2021-04-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. WILSON ,  Gabriel F. BRISSON ,  Robert C. REID

IPC: A61B17/04 ,  A61B34/00

CPC classification number: A61B17/0482 ,  A61B34/71 ,  A61B2017/00137

Abstract: Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.