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    Shape sensor systems with redundant sensing
    1.
    发明授权
    Shape sensor systems with redundant sensing 有权

    公开(公告)号：US12114936B2

    公开(公告)日：2024-10-15

    申请号：US17576696

    申请日：2022-01-14

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David Q. Larkin ,  Vincent Duindam

    IPC分类号： A61B34/20 ,  A61B5/06 ,  A61B90/00

    CPC分类号： A61B34/20 ,  A61B5/065 ,  A61B2034/2061 ,  A61B2090/0818

    摘要： A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

    Flexible surgical devices
    4.
    发明授权
    Flexible surgical devices 有权

    公开(公告)号：US12016539B2

    公开(公告)日：2024-06-25

    申请号：US17841500

    申请日：2022-06-15

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Katherine D. Stoy ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco

    IPC分类号： A61B17/00 ,  A61B34/00 ,  A61B34/30

    CPC分类号： A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00318 ,  A61B2017/00336

    摘要： A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.

    Structural adjustment systems and methods for a teleoperational medical system
    10.
    发明授权
    Structural adjustment systems and methods for a teleoperational medical system 有权

    公开(公告)号：US11963731B2

    公开(公告)日：2024-04-23

    申请号：US17870528

    申请日：2022-07-21

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Brandon D. Itkowitz ,  Paul W. Mohr

    IPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

    CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/03 ,  B25J9/1689

    摘要： A system comprises a manipulator assembly, one or more sensing elements configured to sense an arrangement of the assembly, and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the assembly by using a position of a joint of a plurality of joints or using a position of a link of a plurality of links; store a plurality of threshold limits, where each of the plurality of threshold limits is associated with a procedure type and defines a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type; select a threshold limit of the plurality of threshold limits based on which procedure type is to be performed; and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit.