公开(公告)号：US20210038055A1

公开(公告)日：2021-02-11

申请号：US16999592

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005 ,  A61B1/00

Abstract: A method may comprise storing a first waypoint corresponding to a first position of a tip of a steerable medical device including an articulatable segment. The controller may perform a motion pause check operation to determine that an insertion motion of the articulatable segment into a patient anatomy has been paused, while the tip is at a second position. The controller may determine that the articulatable segment has resumed the insertion motion into the patient anatomy. After determining that the articulatable segment has resumed the insertion motion, a second waypoint corresponding to the second position of the tip of the steerable medical device, may be stored. A boundary region may be defined to form a three-dimensional volume enclosing the positions of the stored waypoints. The articulatable segment may be constrained to remain within the boundary region as the articulatable segment is inserted in the patient anatomy.

公开(公告)号：US20180333039A1

公开(公告)日：2018-11-22

申请号：US16048438

申请日：2018-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005 ,  A61B1/00 ,  A61B34/10 ,  A61B90/00 ,  A61B17/00

CPC classification number: A61B1/0051 ,  A61B1/00009 ,  A61B1/00147 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US20170079507A1

公开(公告)日：2017-03-23

申请号：US15364509

申请日：2016-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005 ,  A61B34/20 ,  A61B5/06 ,  A61B1/00 ,  A61B1/008

CPC classification number: A61B1/0051 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/008 ,  A61B5/065 ,  A61B34/20 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/301

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US09913572B2

公开(公告)日：2018-03-13

申请号：US15364509

申请日：2016-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B34/20 ,  A61B1/008 ,  A61B5/06 ,  A61B17/00 ,  A61B90/00 ,  A61B34/10 ,  A61B34/30

CPC classification number: A61B1/0051 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/008 ,  A61B5/065 ,  A61B34/20 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/301

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US09517000B2

公开(公告)日：2016-12-13

申请号：US14042876

申请日：2013-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/00 ,  A61B1/005 ,  A61B17/00

CPC classification number: A61B1/0051 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/008 ,  A61B5/065 ,  A61B34/20 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/301

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

公开(公告)号：US20140031625A1

公开(公告)日：2014-01-30

申请号：US14042876

申请日：2013-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. Donhowe ,  Amir Belson ,  Kristoffer J. Donhowe ,  Kenneth R. Krieg ,  Eric M. Storne ,  Thomas J. Yorkey ,  Jun Zhang

IPC: A61B1/005

CPC classification number: A61B1/0051 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00147 ,  A61B1/008 ,  A61B5/065 ,  A61B34/20 ,  A61B90/03 ,  A61B2017/003 ,  A61B2034/107 ,  A61B2034/301

Abstract: Waypoints for a steerable medical device are stored as the steerable medical device is moved within a patient. The stored waypoints are an ordered sequence of locations. The ordered sequence of locations defines a safe path within the patient for moving an articulatable portion of the steerable medical device. The articulatable portion of the steerable medical device is constrained to follow the safe path as the articulatable portion moves within the patient. For example, the articulatable portion of the steerable medical device is constrained to remain within a boundary region enclosing the safe path as the articulatable portion of the steerable medical device follows the safe path.

Abstract translation: 当可转向医疗设备在患者体内移动时，存储可转向医疗设备的路标点。 存储的路点是有序的位置序列。 位置的有序序列限定了患者内的安全路径，用于移动可转向医疗装置的可铰接部分。 可转向医疗装置的可铰接部分被限制为随着可铰接部分在患者体内移动而跟随安全路径。 例如，可转向医疗设备的可铰接部分被限制为保持在包围安全路径的边界区域内，因为可转向医疗设备的可关节部分遵循安全路径。