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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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公开(公告)号：US12114956B2
公开(公告)日：2024-10-15
申请号：US17140373
申请日：2021-01-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir Chaghajerdi , Niels Smaby
IPC: A61B46/10 , A61B1/00 , A61B17/00 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/00 , A61B90/00 , A61B90/98 , A61B18/00 , A61B46/23 , F16H1/20
CPC classification number: A61B46/10 , A61B1/00142 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/40 , A61B90/08 , A61B90/361 , A61B90/98 , A61B2017/00477 , A61B2018/00172 , A61B46/23 , A61B2090/0813 , F16H1/20 , Y10T29/49817 , Y10T403/59
Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.
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公开(公告)号：US20230210620A1
公开(公告)日：2023-07-06
申请号：US18182631
申请日：2023-03-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Amir Chaghajerdi , James Trevor Clark , Stephen V. Gentile
CPC classification number: A61B34/71 , B25J9/1045 , A61B34/35 , A61B2034/715 , A61B34/76
Abstract: A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.
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公开(公告)号：US11633249B2
公开(公告)日：2023-04-25
申请号：US15880331
申请日：2018-01-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Amir Chaghajerdi , James Trevor Clark , Stephen V. Gentile
Abstract: A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.
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公开(公告)号：US11627948B2
公开(公告)日：2023-04-18
申请号：US17142087
申请日：2021-01-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
Abstract: A medical system includes a control system and an instrument manipulator. The instrument manipulator is configured to receive an instrument and includes a first drive output and a first actuating element configured to drive movement of the first drive output. The first drive output is configured to drive a first input coupling of the instrument. The control system is configured to receive an indication that the first input coupling of the instrument is positioned adjacent to the first drive output of the manipulator, in response to receiving the indication, command the first actuating element to cause movement of the first drive output, receive a feedback associated with a force experienced by the first actuating element during the movement of the first drive output, determine an instruction signal for the first actuating element based on the feedback, and transmit the instruction signal to the first actuating element.
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Patent Agency Ranking
公开(公告)号：US10905507B2
公开(公告)日：2021-02-02
申请号：US16925030
申请日：2020-07-09
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 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, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.
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公开(公告)号：US10743953B2
公开(公告)日：2020-08-18
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
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：US20200029945A1
公开(公告)日：2020-01-30
申请号：US15735082
申请日：2016-06-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US10537400B2
公开(公告)日：2020-01-21
申请号：US16102225
申请日：2018-08-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir Chaghajerdi , Niels Smaby , Tyler Morrissette
IPC: A61B46/10 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/35 , A61B46/00 , A61B90/98 , A61B17/00 , A61B46/23 , F16H1/20
Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
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公开(公告)号：US20190274767A2
公开(公告)日：2019-09-12
申请号：US15121718
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Niels Smaby , Gregory W. Dachs, II
Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.
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