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    Systems and methods for determining the state of motion of an instrument
    1.
    发明授权
    Systems and methods for determining the state of motion of an instrument 有权

    公开(公告)号：US10959807B2

    公开(公告)日：2021-03-30

    申请号：US15975359

    申请日：2018-05-09

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Robert M. Ohline ,  Katherine Whitin ,  Amir Belson ,  Christopher D. Justice

    IPC: A61B90/98 ,  A61B1/31 ,  A61B1/005 ,  A61B8/00 ,  A61B5/06 ,  A61B34/20 ,  A61B90/00

    Abstract: A system may comprise an instrument with an elongate body portion to be moved along a path, one or more datums, and a plurality of sense elements disposed at positions spaced along a length of the elongate body portion. Each sense element may sense or be sensed by one of the datums when in proximity to the datum. The system may also include a processor configured to compare signals transmitted from the datums or from the sense elements, including a first signal and a second signal, and identify, based on the comparison, a state of motion of the elongate body chosen from a state of motion in a forward direction (insertion) along a path and a state of motion in a rearward direction (withdrawal) along the path. The processor may identify the state of motion of the elongate body based on whether the first signal is lower than or higher than the second signal and whether the first and second signals are both increasing or decreasing.

    SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS
    3.
    发明申请
    SYSTEM FOR CONTROLLING AN INSTRUMENT USING SHAPE SENSORS 审中-公开

    公开(公告)号：US20200229683A1

    公开(公告)日：2020-07-23

    申请号：US16841468

    申请日：2020-04-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Keith P. Laby ,  Amir Belson ,  Robert M. Ohline ,  Christoph M. Pistor ,  Charles E. Swinehart ,  Bruce R. Woodley

    IPC: A61B1/005 ,  A61B1/313 ,  A61B1/05 ,  A61B1/00

    Abstract: A system for controlling movement of a remotely controlled steerable instrument may comprise a flexible instrument comprising a steerable portion configured to articulate to change a shape of the steerable portion. The system may also comprise a shape sensing device comprising a first resistance-changing flexible sensor. The first resistance-changing flexible sensor may be configured to generate a signal indicative of a first bend change in the steerable portion. The system may also comprise a controller in signal communication with the first resistance-changing flexible sensor. The controller may be logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable portion of the flexible instrument in response to receiving at least the signal from the first resistance-changing flexible sensor.

    SYSTEM FOR DETERMINING THE SHAPE OF A BENDABLE INSTRUMENT
    6.
    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.

    System for determining the shape of a bendable instrument
    8.
    发明授权
    System for determining the shape of a bendable instrument 有权

    公开(公告)号：US11617499B2

    公开(公告)日：2023-04-04

    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 ,  A61B90/00

    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.

    Connector device for a controllable instrument
    9.
    发明授权
    Connector device for a controllable instrument 有权

    公开(公告)号：US10736490B2

    公开(公告)日：2020-08-11

    申请号：US16123309

    申请日：2018-09-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

    IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005 ,  A61B17/00

    Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

    System for controlling an instrument using shape sensors
    10.
    发明授权
    System for controlling an instrument using shape sensors 有权

    公开(公告)号：US10660509B2

    公开(公告)日：2020-05-26

    申请号：US15660828

    申请日：2017-07-26

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Keith P. Laby ,  Robert M. Ohline ,  Christoph M. Pistor ,  Charles E. Swinehart ,  Bruce R. Woodley ,  Amir Belson

    IPC: A61B1/005 ,  A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  A61B34/20

    Abstract: A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

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