公开(公告)号：US20240389836A1

公开(公告)日：2024-11-28

申请号：US18795588

申请日：2024-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon Itkowitz ,  Simon Peter Dimaio

IPC: A61B1/00 ,  A61B1/05 ,  A61B34/30 ,  A61B90/50

Abstract: Systems and methods for endoscopic operations are described. For example, the disclosure provides an endoscopic system with an endoscope support configured to hold an endoscope. The endoscope includes a shaft and an image capturer positioned at a distal end of the shaft, the image capturer configured to capture an image. The endoscopic system further includes a cannula support configured to hold a cannula, with the image capturer being insertable through the cannula. The endoscopic system also includes a controller with a processor, the controller configured to determine a pose of a point of the endoscope based on a first location of a first point and a second location of a second point, the first point being of the endoscope and the second point being of the cannula, where the pose of the point is a pose of a frame of reference originating at the point.

公开(公告)号：US11950870B2

公开(公告)日：2024-04-09

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Katherine Suzanne Anderson ,  Nicholas Leo Bernstein ,  Simon Peter Dimaio ,  Catherine Mohr ,  Theodore W. Rogers ,  Kollin Myles Tierling ,  Andrew Cullen Waterbury

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B1/00193 ,  A61B2017/00212 ,  A61B2017/00557 ,  A61B2017/00561 ,  A61B17/29 ,  A61B17/3423 ,  A61B17/3468 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/064 ,  A61B2217/005

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

公开(公告)号：US20240115335A1

公开(公告)日：2024-04-11

申请号：US18545284

申请日：2023-12-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter Dimaio ,  David William Bailey ,  Theodore W. Rogers ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/302 ,  A61B2034/305

Abstract: A computer-assisted medical system includes a manipulator, an instrument holder physically coupled to the manipulator arm, and a controller that includes a computer processor. The instrument holder includes an instrument holder carriage configured to releasably couple to an instrument and translate the instrument along a longitudinal axis. The controller applies a signal that represents a movement for the instrument along the longitudinal axis to a filter to differentiate between a first and a second motion component of the movement along the longitudinal axis, and causes the instrument to move in accordance with the movement along the longitudinal axis by commanding the manipulator arm to move based on the first motion component of the movement along the longitudinal axis. The controller further commands, based on the second motion component of the movement along the longitudinal axis, the instrument holder carriage to move relative to the manipulator arm.