Patents by Inventor Christopher J. Hasser
Christopher J. Hasser has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20170281298Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: ApplicationFiled: April 13, 2017Publication date: October 5, 2017Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian E. McDowall, Christopher J. Hasser
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Publication number: 20170282372Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.Type: ApplicationFiled: June 21, 2017Publication date: October 5, 2017Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian D. Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
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Patent number: 9730572Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.Type: GrantFiled: March 20, 2015Date of Patent: August 15, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Christopher J. Hasser, Nitish Swarup, Thomas G. Cooper, S. Christopher Anderson
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Patent number: 9699445Abstract: In one embodiment of the invention, a digital zoom and panning system for digital video includes an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.Type: GrantFiled: February 29, 2012Date of Patent: July 4, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Brian D. Hoffman, Christopher J. Hasser, William C. Nowlin
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Patent number: 9649172Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: GrantFiled: April 28, 2016Date of Patent: May 16, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian E. McDowall, Christopher J. Hasser
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Publication number: 20170128145Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.Type: ApplicationFiled: January 23, 2017Publication date: May 11, 2017Inventors: Christopher J. Hasser, Russell H. Taylor, Joshua Leven, Michael Choti
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Publication number: 20170128144Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.Type: ApplicationFiled: January 23, 2017Publication date: May 11, 2017Inventors: Christopher J. Hasser, Russell H. Taylor, Joshua Leven, Michael Choti
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Publication number: 20170128041Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.Type: ApplicationFiled: January 23, 2017Publication date: May 11, 2017Inventors: Christopher J. Hasser, Russell H. Taylor, Joshua Leven, Michael Choti
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Publication number: 20170128152Abstract: A surgical site is simultaneously illuminated by less than all the visible color components that make up visible white light, and a fluorescence excitation illumination component by an illuminator in a minimally invasive surgical system. An image capture system acquires an image for each of the visible color components illuminating the surgical site and a fluorescence image, which is excited by the fluorescence excitation component from the illuminator. The minimally invasive surgical system uses the acquired images to generate a background black and white image of the surgical site. The acquired fluorescence image is superimposed on the background black and white image, and is highlighted in a selected color, e.g., green. The background black and white image with the superimposed highlighted fluorescence image is displayed for a user of the system. The highlighted fluorescence image identifies tissue of clinical interest.Type: ApplicationFiled: November 10, 2015Publication date: May 11, 2017Inventors: Ian McDowall, Christopher J. Hasser
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Patent number: 9492240Abstract: Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure.Type: GrantFiled: June 16, 2009Date of Patent: November 15, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Tao Zhao, Simon Di Maio, Wenyi Zhao, Christopher J. Hasser, Myrian J. Curet, Catherine J. Mohr, Hubert Stein
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Publication number: 20160235488Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: ApplicationFiled: April 28, 2016Publication date: August 18, 2016Applicant: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs II, Ian E. McDowall, Christopher J. Hasser
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Patent number: 9402690Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.Type: GrantFiled: August 3, 2014Date of Patent: August 2, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Wenyi Zhao, Chenyu Wu, David Hirvonen, Christopher J. Hasser, Brian E. Miller, Catherine J. Mohr, Tao Zhao, Simon Di Maio, Brian D. Hoffman
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Publication number: 20160216167Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.Type: ApplicationFiled: March 31, 2016Publication date: July 28, 2016Applicant: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Christopher J. Hasser
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Patent number: 9339347Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: GrantFiled: May 18, 2015Date of Patent: May 17, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian E. McDowall, Christopher J. Hasser
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Publication number: 20160089013Abstract: A surgical site is simultaneously illuminated by less than all the visible color components that make up visible white light, and a fluorescence excitation illumination component by an illuminator in a minimally invasive surgical system. An image capture system acquires an image for each of the visible color components illuminating the surgical site and a fluorescence image, which is excited by the fluorescence excitation component from the illuminator. The minimally invasive surgical system uses the acquired images to generate a background black and white image of the surgical site. The acquired fluorescence image is superimposed on the background black and white image, and is highlighted in a selected color, e.g., green. The background black and white image with the superimposed highlighted fluorescence image is displayed for a user of the system. The highlighted fluorescence image identifies tissue of clinical interest.Type: ApplicationFiled: December 8, 2015Publication date: March 31, 2016Inventors: Ian E. McDowall, Christopher J. Hasser
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Patent number: 9211058Abstract: A surgical site is simultaneously illuminated by less than all the visible color components that make up visible white light, and a fluorescence excitation illumination component by an illuminator in a minimally invasive surgical system. An image capture system acquires an image for each of the visible color components illuminating the surgical site and a fluorescence image, which is excited by the fluorescence excitation component from the illuminator. The minimally invasive surgical system uses the acquired images to generate a background black and white image of the surgical site. The acquired fluorescence image is superimposed on the background black and white image, and is highlighted in a selected color, e.g., green. The background black and white image with the superimposed highlighted fluorescence image is displayed for a user of the system. The highlighted fluorescence image identifies tissue of clinical interest.Type: GrantFiled: August 13, 2010Date of Patent: December 15, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: Ian E. McDowall, Christopher J. Hasser
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Publication number: 20150313452Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.Type: ApplicationFiled: March 20, 2015Publication date: November 5, 2015Applicant: Intuitive Surgical Operations, Inc.Inventors: Christopher J. HASSER, Nitish SWARUP, Thomas G. COOPER, S. Christopher ANDERSON
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Patent number: 9155592Abstract: Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure.Type: GrantFiled: June 16, 2009Date of Patent: October 13, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Tao Zhao, Simon Dimaio, Wenyi Zhao, Christopher J. Hasser, Myriam J. Curet, Catherine J. Mohr, Hubert Stein
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Publication number: 20150250548Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument.Type: ApplicationFiled: May 18, 2015Publication date: September 10, 2015Applicant: Intuitive Surgical, Inc.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian E. McDowall, Christopher J. Hasser
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Patent number: 9055962Abstract: A surgical instrument that includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer is disclosed. The plurality of strain gauges are coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer, which can be coupled to a fiber optic connector. A wrist joint coupled to an end effector is coupled to a distal end of the force transducer. A robotic surgical manipulator that includes a base link coupled to a distal end of a manipulator positioning system, and a distal link with an instrument interface, and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.Type: GrantFiled: May 10, 2013Date of Patent: June 16, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian McDowall, Christopher J. Hasser