公开(公告)号：US11020196B2

公开(公告)日：2021-06-01

申请号：US16171942

申请日：2018-10-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peling G. Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Matthew R. Williams

IPC: A61B34/00 ,  A61B18/14 ,  A61B34/30 ,  A61B17/29 ,  A61B90/70 ,  A61B17/00

Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

公开(公告)号：US20210015572A1

公开(公告)日：2021-01-21

申请号：US17042724

申请日：2019-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  Andrew Cullen Waterbury ,  John Ryan Steger ,  Alain Sadaka

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  B25J5/00

Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.

公开(公告)号：US10595947B2

公开(公告)日：2020-03-24

申请号：US16192315

申请日：2018-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger

IPC: G02B6/06 ,  A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/20 ,  A61B17/00 ,  A61B34/30 ,  A61B34/37

Abstract: A surgical instrument shaft is provided that includes a hollow tube formed of a base material and including an inner wall surface and an outer wall surface; reinforcing glass material is embedded between the inner surface and outer wall surface; an optical fiber is embedded within the base material between the inner wall surface and the outer wall surface.

公开(公告)号：US20200078109A1

公开(公告)日：2020-03-12

申请号：US16316939

申请日：2017-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrisette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

公开(公告)号：US20190231461A1

公开(公告)日：2019-08-01

申请号：US16340966

申请日：2017-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger ,  Ryan Charles Abbott ,  Daniel H. Gomez

IPC: A61B34/35 ,  B25J9/16 ,  B25J9/10

CPC classification number: A61B34/35 ,  A61B17/3423 ,  A61B34/30 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305 ,  B25J9/106 ,  B25J9/1689

Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.

公开(公告)号：US09827057B2

公开(公告)日：2017-11-28

申请号：US14997257

申请日：2016-01-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco ,  John Ryan Steger ,  David Q. Larkin

IPC: B25J13/08 ,  A61B34/30 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/2065 ,  B25J9/1689 ,  B25J9/1697

Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.

公开(公告)号：US09254178B2

公开(公告)日：2016-02-09

申请号：US14015302

申请日：2013-08-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Craig R. Gerbi ,  Theodore W. Rogers ,  John Ryan Steger

IPC: A61B19/00 ,  A61B1/00 ,  A61B17/34 ,  A61B17/00 ,  A61B17/29 ,  A61B19/02

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3474 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B50/13 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3441 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/41

Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.

公开(公告)号：US20250160983A1

公开(公告)日：2025-05-22

申请号：US19029808

申请日：2025-01-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  H04W12/50

Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.

公开(公告)号：US12171516B2

公开(公告)日：2024-12-24

申请号：US17541554

申请日：2021-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B17/00 ,  A61B17/29 ,  A61B34/00 ,  A61B34/37 ,  B25J9/12 ,  B25J9/16

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

公开(公告)号：US12035992B2

公开(公告)日：2024-07-16

申请号：US16967219

申请日：2019-03-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Andrew Cullen Waterbury ,  John Ryan Steger ,  Alain Sadaka

IPC: A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61B2017/00477 ,  A61B2017/00973 ,  A61B34/37 ,  A61B2034/715 ,  A61B2090/371

Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.