公开(公告)号：US20200282570A1

公开(公告)日：2020-09-10

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20150297300A1

公开(公告)日：2015-10-22

申请号：US14753575

申请日：2015-06-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Nicola DIOLAITI ,  David Q. LARKIN ,  Paul E. LILAGAN ,  Probal MITRA ,  Tabish MUSTUFA

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B1/0055 ,  A61B1/018 ,  A61B5/15196 ,  A61B19/2203 ,  A61B19/56 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2019/223 ,  A61B2019/2292 ,  A61B2034/252 ,  A61B2034/258 ,  B25J9/10 ,  B25J9/1005 ,  B25J9/16 ,  B25J9/161 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1679 ,  Y10S901/02 ,  Y10S901/41 ,  Y10S901/47 ,  A61B2019/2269 ,  A61B2019/2207 ,  A61B2019/2223 ,  A61B2019/562 ,  A61B2019/568

Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.

Abstract translation: 为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。 当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。 在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中 新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。

公开(公告)号：US20240293942A1

公开(公告)日：2024-09-05

申请号：US18591683

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/90

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20230363838A1

公开(公告)日：2023-11-16

申请号：US18358091

申请日：2023-07-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Paul E. LILAGAN

IPC: A61B34/30 ,  A61B34/00 ,  B25J13/02 ,  A61B17/00 ,  B25J19/02

CPC classification number: A61B34/30 ,  A61B34/76 ,  B25J13/025 ,  A61B34/72 ,  A61B17/00234 ,  B25J19/021 ,  A61B34/20

Abstract: Techniques for retracting an instrument into an entry guide include an entry guide manipulator configured to support an entry guide and an instrument manipulator configured to support an instrument. The robotic system is configured to receive a command indicating a commanded movement of the entry guide in a direction parallel to an insertion axis of the entry guide; in response to the commanded movement of the entry guide being greater than a threshold distance in the direction parallel to the insertion axis, cause a response comprising one or more actions selected from the group consisting of: movement, using the instrument manipulator, of one or more rotational joints of the instrument external to the entry guide toward a distal end of the entry guide; and actuation of the one or more rotational joints to straighten the instrument so that the instrument can be retracted into the entry guide.

公开(公告)号：US20230346494A1

公开(公告)日：2023-11-02

申请号：US18328886

申请日：2023-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  Paul E. LILAGAN ,  Tao ZHAO

IPC: A61B34/37 ,  B25J9/16 ,  B25J13/08 ,  A61B34/00 ,  G05B15/02 ,  A61B34/35 ,  A61B90/98 ,  A61B34/30

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B90/98 ,  B25J9/1612 ,  B25J13/086 ,  G05B15/02 ,  A61B2017/00207

Abstract: Techniques for control using hand tracking include a system having an input control configured to be manipulated by an operator of the system, a hand tracking unit, and a controller. The controller is configured to determine a first position of the input control; receive, from the hand tracking unit, a second position of a hand of the operator; determine whether the first position is within a threshold distance of the second position; and control display of a user interface based on the determination of whether the first position is within the threshold distance of the second position.

公开(公告)号：US20220361969A1

公开(公告)日：2022-11-17

申请号：US17874233

申请日：2022-07-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Paul E. LILAGAN

IPC: A61B34/30 ,  A61B34/00 ,  B25J13/02 ,  A61B17/00 ,  B25J19/02

Abstract: Techniques for retracting an instrument into an entry guide include receiving a retraction command for the instrument, the retraction command commanding movement of the instrument into the entry guide; causing, in response to the retraction command and using an instrument manipulator, movement of a rotational joint of the instrument that is external to the entry guide toward a distal end of the entry guide; actuating, after the rotational joint reaches a minimum distance from the distal end of the entry guide, the rotational joint to orient a link of the instrument so that the link can be retracted into the entry guide, the link being adjacent to and distal to the rotational joint; and causing, after the link is oriented so that the link can be retracted into the entry guide and using the instrument manipulator, further movement of the rotational joint toward the distal end of the entry guide.

公开(公告)号：US20220183780A1

公开(公告)日：2022-06-16

申请号：US17683949

申请日：2022-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. COOPER ,  Jeffrey D. BROWN ,  Nicola DIOLAITI ,  Eugene F. DUVAL ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Paul E. LILAGAN ,  Anthony K. MCGROGAN ,  Craig R. RAMSTAD

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.