公开(公告)号：US12262970B2

公开(公告)日：2025-04-01

申请号：US18599768

申请日：2024-03-08

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：US20240390068A1

公开(公告)日：2024-11-28

申请号：US18670002

申请日：2024-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Steven Manuel ,  Daniel H. Gomez ,  Daniel N. Miller ,  John Ryan Steger ,  Prasad V. Upadrasta ,  Zhuoqun Xu ,  Chun hua Zheng ,  Pavel Chtcheprov

IPC: A61B34/10 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: A computer-assisted system can comprise an instrument configured to be at least partially inserted through a body wall from an external workspace to an internal workspace within a body; and a controller configured to generate a first three-dimensional model of the internal workspace in which a first portion of the instrument is inserted during performance of a medical procedure using the instrument, generate a second three-dimensional model of an external workspace in which a second portion of the instrument is located during the performance of the medical procedure, based on the first three-dimensional model and the second three-dimensional model, determine an internal geometry within the internal workspace defining a reachable volume within the internal workspace within which the instrument may be positioned, and provide output related to performance of the medical procedure based on the determined internal geometry.

公开(公告)号：US11998292B2

公开(公告)日：2024-06-04

申请号：US17474419

申请日：2021-09-14

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 ,  A61B34/00 ,  A61B90/00 ,  A61B90/57 ,  G16H40/60

CPC classification number: A61B34/35 ,  A61B34/76 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2034/715 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2090/0809 ,  A61B2090/571 ,  G16H40/60

Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.

公开(公告)号：US11980504B2

公开(公告)日：2024-05-14

申请号：US17058630

申请日：2019-05-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger

IPC: A61B90/00 ,  A61B34/35 ,  G01L1/24

CPC classification number: A61B90/06 ,  A61B34/35 ,  G01L1/246 ,  A61B2090/064

Abstract: A force sensing device is provided for use with a surgical instrument shaft having a two degree-of-freedom wrist mounted end effector portion having a working surface; a housing defines an annular collar sized to snugly fit about the two degree-of-freedom wrist and defines a cap sized to snugly fit about the end effector portion; an optical fiber including a segment is embedded within the annular collar and including a segment embedded within the cap; a first fiber Bragg grating (FBG) formed in the segment of the optical fiber embedded within the cap.

公开(公告)号：US11744563B2

公开(公告)日：2023-09-05

申请号：US16664200

申请日：2019-10-25

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B46/10 ,  A61B34/20

CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B34/71 ,  A61B46/10 ,  A61B2017/00398 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2034/2059

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.

公开(公告)号：US20230149103A1

公开(公告)日：2023-05-18

申请号：US18151185

申请日：2023-01-06

Applicant: Intuitive Surgical Operations, Inc.

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

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

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B2090/371

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

公开(公告)号：US11589938B2

公开(公告)日：2023-02-28

申请号：US17246008

申请日：2021-04-30

Applicant: Intuitive Surgical Operations, Inc.

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

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

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

公开(公告)号：US11266475B2

公开(公告)日：2022-03-08

申请号：US16484299

申请日：2017-12-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/50 ,  A61B90/57

Abstract: A computer-assisted system comprises a manipulator configured to support a tool, a lockable joint, and a controller. The manipulator extends distally from a base and comprises a distal portion. The lockable joint is coupled to the base and located proximally relative to the base. The controller is operably coupled to a powered joint. The powered joint is located distally relative to the base. The controller is configured to perform operations. The operations comprise: driving the powered joint to move the distal portion while the lockable joint is locked, and driving the powered joint to move the base while the lockable joint is unlocked and a position of the distal portion is externally maintained. A method includes processes for operating a computer-assisted system. A method includes determining a desired motion envelope for a tool supported by a manipulator, and positioning a base of the manipulator based on the desired motion envelope.

公开(公告)号：US20210401518A1

公开(公告)日：2021-12-30

申请号：US17474419

申请日：2021-09-14

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B34/00

Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.

公开(公告)号：US11207143B2

公开(公告)日：2021-12-28

申请号：US16324037

申请日：2017-09-15

Applicant: Intuitive Surgical Operations, Inc.

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

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

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.