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    CANNULA WITH SENSORS TO MEASURE PATIENT BODYWALL FORCES
    81.
    发明申请
    CANNULA WITH SENSORS TO MEASURE PATIENT BODYWALL FORCES 审中-公开

    公开(公告)号：US20200046404A1

    公开(公告)日：2020-02-13

    申请号：US16656422

    申请日：2019-10-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brett M. Page ,  Lawton N. Verner ,  John Ryan Steger ,  Smita De

    IPC: A61B17/34 ,  A61B34/20 ,  A61B90/11 ,  A61B17/02 ,  A61B34/00

    Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

    INSTRUMENT INTERFACE
    85.
    发明申请
    INSTRUMENT INTERFACE 审中-公开

    公开(公告)号：US20160310115A1

    公开(公告)日：2016-10-27

    申请号：US15134836

    申请日：2016-04-21

    Applicant: Intuitive Surgical Operations, Inc.

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

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

    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.

    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL
    86.
    发明申请
    ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL 审中-公开
    用于控制工具运动的框架的位置和方位的估计

    公开(公告)号：US20160206387A1

    公开(公告)日：2016-07-21

    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: A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J9/16

    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.

    Abstract translation: 机器人系统包括具有图像帧的照相机，其相对于固定帧的位置和取向可通过一个或多个图像帧变换来确定，工具设置在照相机的视野内，并且具有工具框架，其位置和取向相对 通过一个或多个工具框架变换可以确定固定框架，并且至少一个处理器被编程为从一个或多个摄像机捕获的图像识别工具的姿势指示点，确定图像和工具框架中的未知图像的估计变换 使用所识别的姿势指示点和已知的图像和工具帧变换来变换，使用估计和已知的图像和工具帧变换来更新主对工具变换，以及响应于移动的工具的命令移动 的主人使用更新的主对工具变换。

    INSTRUMENT ACTUATION PROCESS
    87.
    发明申请
    INSTRUMENT ACTUATION PROCESS 审中-公开
    仪器执行程序

    公开(公告)号：US20160128792A1

    公开(公告)日：2016-05-12

    申请号：US14996863

    申请日：2016-01-15

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Theodore W. Rogers ,  John Ryan Steger

    IPC: A61B34/00 ,  A61B34/30

    CPC classification number: A61B34/71 ,  A61B17/285 ,  A61B17/29 ,  A61B34/30 ,  A61B46/10 ,  A61B90/50 ,  A61B2017/00477

    Abstract: A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.

    Abstract translation: 一种系统包括医疗器械，其包括终端固定装置，致动元件以及耦合到致动元件并延伸到终端固定装置的驱动构件。 终端固定器提供了一个接口，该接口暴露驱动构件的一部分以引导由可能包括操纵器和无菌屏障的外部系统的移动。

    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS
    88.
    发明申请
    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS 有权

    公开(公告)号：US20250160975A1

    公开(公告)日：2025-05-22

    申请号：US19029205

    申请日：2025-01-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  G16H40/60

    Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first 10 instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

    Rotatable carriage for an instrument holder
    89.
    发明授权
    Rotatable carriage for an instrument holder 有权

    公开(公告)号：US12239402B2

    公开(公告)日：2025-03-04

    申请号：US17444162

    申请日：2021-07-30

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

    IPC: A61B34/35 ,  A61B34/00 ,  A61B46/10 ,  B25J5/00 ,  B25J19/00

    Abstract: An instrument holder generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage, and an electrical conductor extending through the carriage radially outward of the light pipe. The light pipe can transmit light energy and the electrical conductor can transmit electricity between a proximal end portion and a distal end portion of the carriage to a medical instrument. The rotatable carriage may include a sterile adapter assembly positioned at the proximal and/or distal end portions of the rotatable carriage. The sterile adapter assembly may include a roll disk rotatable with respect to the outer frame, an inner disk rotatable with respect to the roll disk, and a light pipe to transmit light energy through the roll disk. The inner disk can transfer movement of an actuator between the rotatable carriage and the instrument.

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