公开(公告)号：US20200268240A1

公开(公告)日：2020-08-27

申请号：US16870494

申请日：2020-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Federico Barbagli ,  Tao Zhao

IPC: A61B1/12 ,  A61B1/00 ,  B08B3/02 ,  B08B5/02

Abstract: A system comprises a medical instrument including a nozzle and a lens. The system further comprises a valve configured to control provision of a pressurized fluid. The system further comprises a valve control mechanism and a control system. The control system is configured to determine, based on a position of the medical instrument within a patient anatomy, whether an obstruction is on a surface of the lens. The control system is further configured to, based on a determination that the obstruction is on the surface of the lens, instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid through the nozzle and over the surface of the lens.

公开(公告)号：US20200078096A1

公开(公告)日：2020-03-12

申请号：US16306418

申请日：2017-06-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Christopher R. Carlson ,  Samuel Y. Chang ,  Nicola Diolaiti ,  Vincent Duindam ,  Salomon J. Trujillo

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/32 ,  A61B34/35 ,  A61B17/00

Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.

公开(公告)号：US20200030044A1

公开(公告)日：2020-01-30

申请号：US16496034

申请日：2018-04-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bai Wang ,  Federico Barbagli ,  Energy Cruse, II ,  Scott S. Ichikawa ,  Pechin Chien Pau Lo ,  Oscar G. Salazar ,  Aaron B. Tinling ,  Oliver J. Wagner ,  Tao Zhao

IPC: A61B34/00 ,  A61B34/10 ,  G06F3/0481 ,  G06F3/0484 ,  G06F3/0488

Abstract: A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.

公开(公告)号：US20190331478A1

公开(公告)日：2019-10-31

申请号：US16506997

申请日：2019-07-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Dawn K. Gifford ,  Federico Barbagli ,  Samuel Chang ,  Anoop B. Kowshik ,  Oliver Wagner ,  Michael Paris ,  Mark E. Froggatt

IPC: G01B11/16 ,  G02B23/26 ,  G02B6/00 ,  G02B6/34 ,  G02B6/02 ,  G01L1/24 ,  A61B1/00

Abstract: An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. When an optical interferometric system is coupled to the optical fiber, it processes reflected light from a portion of the core included within the tubular structure that does not include Bragg gratings to produce a measurement of a force present at the distal region of the instrument.

公开(公告)号：US20190038365A1

公开(公告)日：2019-02-07

申请号：US16076409

申请日：2017-02-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Timothy D. Soper ,  Federico Barbagli ,  Caitlin Q. Donhowe ,  Vicent Duindam ,  Michael D. Paris ,  Oliver Wagner ,  Tao Zhao

IPC: A61B34/20 ,  A61B90/00 ,  A61B34/10

Abstract: A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker.

公开(公告)号：US20170273712A1

公开(公告)日：2017-09-28

申请号：US15505855

申请日：2015-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher R. Carlson ,  Randall L. Schlesinger ,  Federico Barbagli

IPC: A61B17/34 ,  A61B5/06

CPC classification number: A61B17/3403 ,  A61B5/0538 ,  A61B5/061 ,  A61B5/062 ,  A61B10/0283 ,  A61B10/04 ,  A61B10/06 ,  A61B2010/045 ,  A61B2017/3405 ,  A61B2034/301 ,  A61B2090/064

Abstract: In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.

公开(公告)号：US20170265956A1

公开(公告)日：2017-09-21

申请号：US15505452

申请日：2015-08-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher R. Carlson ,  Federico Barbagli

IPC: A61B34/00 ,  A61B17/00 ,  A61B34/35

Abstract: A method of controlling a movement of a medical instrument comprises receiving an input instruction from an operator input device movement and determining a control factor based on the input instruction. The method also comprises receiving a motion scaling parameter determined from the control factor and mapping the input instruction to an output instruction for a medical instrument movement. The mapping includes applying the motion scaling parameter to the input instruction to create the output instruction. The method also includes moving the medical instrument according to the output instruction.

公开(公告)号：US20170209071A1

公开(公告)日：2017-07-27

申请号：US15329676

申请日：2015-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Vincent Duindam ,  Caitlin Q. Donhowe ,  Timothy D. Soper ,  Federico Barbagli

IPC: A61B5/06 ,  A61B1/00 ,  A61B34/20

CPC classification number: A61B5/06 ,  A61B1/00006 ,  A61B1/00147 ,  A61B5/065 ,  A61B5/066 ,  A61B34/20 ,  A61B2034/2051 ,  G06T7/149 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30061

Abstract: A method comprises navigating a patient's anatomy with a medical instrument, the instrument comprising a sensing tool. The method further includes correlating a position of the instrument with a model of the patient's anatomy. The method further includes, while navigating the patient's anatomy, updating the model based on data obtained by the sensing tool.