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公开(公告)号：US12171517B2
公开(公告)日：2024-12-24
申请号：US18320357
申请日：2023-05-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.
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公开(公告)号：US20210113284A1
公开(公告)日：2021-04-22
申请号：US17133877
申请日：2020-12-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.
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公开(公告)号：US20190083185A1
公开(公告)日：2019-03-21
申请号：US16194149
申请日：2018-11-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.
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公开(公告)号：US20180185109A1
公开(公告)日：2018-07-05
申请号：US15877364
申请日：2018-01-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas R. Nixon
CPC classification number: G06F19/00 , A61B17/29 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B90/06 , A61B90/361 , A61B2017/00017 , A61B2017/00207 , A61B2017/00477 , A61B2017/00725 , A61B2034/305 , A61B2090/066 , B25J9/1689 , B25J9/1692 , G05B2219/45123 , G05B2219/49305 , Y10S901/39 , Y10S901/40 , Y10S901/44 , Y10S901/45 , Y10S901/46
Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
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公开(公告)号：US09504527B2
公开(公告)日：2016-11-29
申请号：US14218300
申请日：2014-03-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。
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Patent Agency Ranking
公开(公告)号：US20140188131A1
公开(公告)日：2014-07-03
申请号：US14145406
申请日：2013-12-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory K. Toth , Nitish Swarup , Thomas R. Nixon , David Q. Larkin , Steven J. Colton
IPC: A61B19/00
CPC classification number: A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , G06F19/00 , G16H40/40 , Y10S901/02 , Y10S901/41
Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。
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7.发明申请METHOD OF USER INTERFACES FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS 审中-公开用户界面在机械手术系统中的电磁工具的方法公开(公告)号：US20130217967A1
公开(公告)日：2013-08-22
申请号：US13848224
申请日：2013-03-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul W. Mohr , David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Salvatore J. Brogna
CPC classification number: A61B18/12 , A61B1/00009 , A61B17/320068 , A61B18/1206 , A61B18/1482 , A61B18/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2017/00973
Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.
Abstract translation: 公开了一种用于微创手术系统的方法，包括：捕获外科手术部位的相机图像; 生成图形用户界面（GUI），其包括第一侧中的第一着色边界部分和与第一侧相对的第二侧中的第二彩色边框; 并将GUI覆盖在手术部位的捕获的相机图像上，以在外科医生控制台的显示装置上显示。 GUI向用户提供关于第一电外科手术工具和外科手术部位中由捕获的相机图像同时显示的第二工具的信息。 GUI中的第一彩色边界部分指示第一电外科手术由外科医生控制台的第一主把手控制，而第二彩色边界部分指示由外科医生控制台的第二主把手控制的第二工具的工具类型。
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公开(公告)号：US20220354602A1
公开(公告)日：2022-11-10
申请号：US17752975
申请日：2022-05-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory K. Toth , Nitish Swarup , Thomas R. Nixon , David Q. Larkin , Steven J. Colton
Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
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公开(公告)号：US11439472B2
公开(公告)日：2022-09-13
申请号：US16847267
申请日：2020-04-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Giuseppe Maria Prisco , Hubert Stein , Paul Millman , David W. Bailey , William C. Nowlin , Gregory K. Toth , Thomas R. Nixon
Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.
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10.发明申请公开(公告)号：US20200331147A1
公开(公告)日：2020-10-22
申请号：US16921995
申请日：2020-07-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Thomas R. Nixon , David S. Mintz
IPC: B25J9/16 , A61B17/00 , A61B1/00 , A61B90/00 , A61B34/20 , A61B1/005 , A61B34/30 , A61B1/04 , A61B1/313 , A61B34/10 , A61B34/00 , A61B34/37
Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
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