公开(公告)号：US20240065779A1

公开(公告)日：2024-02-29

申请号：US18491494

申请日：2023-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2034/2061 ,  A61B2034/301

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：US20240023902A1

公开(公告)日：2024-01-25

申请号：US18339127

申请日：2023-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61B1/00 ,  A61B1/045

CPC classification number: A61B5/7425 ,  A61B5/062 ,  A61B5/065 ,  A61B34/20 ,  A61B1/00006 ,  A61B1/045 ,  A61B1/000094 ,  A61B2034/2061 ,  A61B2034/2051 ,  A61B2017/00699

Abstract: A method of modeling a cyclic anatomical motion comprises receiving a pose dataset for an identified point on an interventional instrument retained within and in compliant movement with a cyclically moving patient anatomy for a plurality of time parameters. The method also includes determining a set of pose differentials for the identified point with respect to a reference point at each of the plurality of time parameters and identifying a periodic signal for the cyclic anatomical motion from the set of pose differentials.

公开(公告)号：US20230420107A1

公开(公告)日：2023-12-28

申请号：US18463624

申请日：2023-09-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Federico Barbagli

IPC: G16H20/40 ,  A61B34/30 ,  G16H40/63 ,  G16H30/40 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35

CPC classification number: G16H20/40 ,  A61B34/30 ,  G16H40/63 ,  G16H30/40 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B2090/064

Abstract: A method performed by a computing system comprises providing instructions to a teleoperational assembly to move an instrument within an anatomic passageway according to a commanded velocity profile. The method also comprises receiving a set of spatial information from the instrument positioned within the anatomic passageway and filtering the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.

公开(公告)号：US20230389998A1

公开(公告)日：2023-12-07

申请号：US18452385

申请日：2023-08-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Federico Barbagli ,  Lisa Ison

IPC: A61B34/20 ,  A61B34/35 ,  A61B17/34 ,  A61B34/37

CPC classification number: A61B34/20 ,  A61B34/35 ,  A61B17/3423 ,  A61B34/37 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/301

Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.

公开(公告)号：US11832891B2

公开(公告)日：2023-12-05

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 ,  A61B34/32 ,  A61B17/00 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B34/20 ,  A61B17/00234 ,  A61B34/25 ,  A61B34/32 ,  A61B34/35 ,  A61B2017/00075 ,  A61B2017/00119 ,  A61B2017/00809 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/303 ,  A61B2560/0276

Abstract: A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.

公开(公告)号：US11636597B2

公开(公告)日：2023-04-25

申请号：US16950980

申请日：2020-11-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06T7/00 ,  G06T11/00 ,  A61B34/20 ,  A61B6/12 ,  A61B6/00 ,  A61B90/00

Abstract: A medical system includes an instrument, a display system, and a processing unit. The instrument includes an instrument shape sensor. The processing unit includes one or more processors. The processing unit is configured to, receive an anatomic model of a patient anatomy, receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model, determine a preferred fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest, and provide an indication on the display system to guide positioning of a fluoroscopy system to obtain a fluoroscopic image in the preferred fluoroscopic image plane. An area of interest is identified in the anatomic model.

公开(公告)号：US20230061771A1

公开(公告)日：2023-03-02

申请号：US17968235

申请日：2022-10-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： TAO ZHAO ,  Federico Barbagli ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B34/20 ,  A61B1/005 ,  A61B1/04 ,  A61B1/267

Abstract: Systems and methods for supporting image-guided procedures include an elongate device including a steerable distal end and a shape sensor located along a length of the elongate device and one or more processors coupled to the elongate device. While the elongate device is being traversed through one or more passageways of a patient, the one or more processors are configured to detect a data collection event, and capture, in response to detecting the data collection event, a plurality of points along the length of the elongate device using the shape sensor. In some embodiments, an insertion depth of the elongate device is monitored. In some embodiments, the data collection event is detected when the insertion depth is beyond a threshold insertion depth, no change of the insertion depth is detected for longer than a threshold period of time, or the insertion depth is beyond a threshold retraction distance.

公开(公告)号：US11576565B2

公开(公告)日：2023-02-14

申请号：US17550718

申请日：2021-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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

公开(公告)号：US11571262B2

公开(公告)日：2023-02-07

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 ,  G06F3/04815 ,  G06F3/04845 ,  G06F3/04883

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：US20220079689A1

公开(公告)日：2022-03-17

申请号：US17538047

申请日：2021-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Federico Barbagli ,  Lisa L. Ison

IPC: A61B34/20 ,  A61B34/35 ,  A61B17/34 ,  A61B34/37

Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.