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    Flexible surgical devices
    3.
    发明授权
    Flexible surgical devices 有权

    公开(公告)号：US12016539B2

    公开(公告)日：2024-06-25

    申请号：US17841500

    申请日：2022-06-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Katherine D. Stoy ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco

    IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30

    CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00318 ,  A61B2017/00336

    Abstract: A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.

    Passive preload and capstan drive for surgical instruments
    7.
    发明授权
    Passive preload and capstan drive for surgical instruments 有权

    公开(公告)号：US11547503B2

    公开(公告)日：2023-01-10

    申请号：US16941368

    申请日：2020-07-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Giuseppe Maria Prisco

    IPC: A61B34/30 ,  B25J9/10 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00 ,  A61B34/20

    Abstract: An instrument system comprising a flexible shaft having proximal and distal portions, a backend mechanism coupled to the proximal portion, and a plurality of tendons including first and second tendons. The backend mechanism comprises a plurality of capstans including first and second capstans. Each capstan includes a bore for engagement with a drive shaft, and a capstan coupling member adapted to engage a drive shaft coupling member such that rotation of the drive shaft causes rotation of the capstan, and adapted to disengage from the drive shaft coupling member so rotation of the drive shaft does not cause rotation of the capstan. The first tendon is configured to wrap around the first capstan and the second tendon is configured to wrap around the second capstan. The first and second tendons are coupled to a member disposed at the distal portion and are configured to move the member in opposing directions.

    Determining position of medical device in branched anatomical structure
    8.
    发明授权
    Determining position of medical device in branched anatomical structure 有权

    公开(公告)号：US10888248B2

    公开(公告)日：2021-01-12

    申请号：US15486246

    申请日：2017-04-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tao Zhao ,  Giuseppe Maria Prisco

    IPC: A61B5/00 ,  A61B5/06 ,  G06T7/73 ,  A61B1/00 ,  A61B1/267 ,  A61B34/20 ,  A61B6/12 ,  A61B6/00 ,  A61B8/08 ,  A61B34/10 ,  A61B90/00

    Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

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