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公开(公告)号：US12076102B2
公开(公告)日：2024-09-03
申请号：US16928173
申请日：2020-07-14
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
CPC classification number: A61B34/71 , A61B1/00128 , A61B1/0016 , A61B1/0053 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B1/31 , A61B2017/003 , A61B2017/00477
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.
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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
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.
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公开(公告)号：US20170319049A1
公开(公告)日：2017-11-09
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
Abstract: The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.
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公开(公告)号：US09737198B2
公开(公告)日：2017-08-22
申请号：US14303270
申请日：2014-06-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Keith P. Laby , Robert M. Ohline , Christoph M. Pistor , Charles E. Swinehart , Bruce R. Woodley , Amir Belson
CPC classification number: A61B1/0055 , A61B1/00045 , A61B1/0052 , A61B1/05 , A61B1/313 , A61B2034/2061
Abstract: The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. The present invention also relates to a system for sensing the shape of a flexible instrument with an optical shape sensor.
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公开(公告)号：US09138132B2
公开(公告)日：2015-09-22
申请号：US14148322
申请日：2014-01-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Amir Belson
CPC classification number: A61B1/0051 , A61B1/0016 , A61B1/0053 , A61B1/0058 , A61B1/008 , A61B1/31 , A61B5/065 , A61B2034/301 , A61B2034/741 , A61B2034/742
Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.
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Patent Agency Ranking
公开(公告)号：US11039736B2
公开(公告)日：2021-06-22
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
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.
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公开(公告)号：US11026564B2
公开(公告)日：2021-06-08
申请号：US16443070
申请日：2019-06-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Amir Belson , Robert Matthew Ohline
IPC: A61B1/00 , A61B1/005 , A61B1/05 , A61B1/31 , G02B23/24 , A61B18/14 , A61B1/012 , A61B1/018 , A61B18/02 , A61B17/00 , A61B18/00 , A61B34/30
Abstract: Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
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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
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.
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公开(公告)号：US10327625B2
公开(公告)日：2019-06-25
申请号：US15229177
申请日：2016-08-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Amir Belson , Robert Matthew Ohline
IPC: A61B1/00 , A61B1/005 , A61B1/05 , A61B1/31 , A61B18/14 , G02B23/24 , A61B1/012 , A61B1/018 , A61B18/02 , A61B18/22 , A61B17/00 , A61B18/00 , A61B34/30
Abstract: Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.
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10.发明申请公开(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
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.
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