Patents by Inventor J. Kenneth Salisbury
J. Kenneth Salisbury 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).
-
Patent number: 9232984Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.Type: GrantFiled: November 10, 2010Date of Patent: January 12, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Gary S. Guthart, Gunter D. Niemeyer, Robert G. Younge, J. Kenneth Salisbury, Thomas G. Cooper
-
Patent number: 9227326Abstract: According to one exemplary embodiment, a manipulator device includes a base, first and second linear slides, a drive link, a drive member, a driven member and an end effector. The elements of the manipulator device cooperate to constrain the end effector to rotate about a remote center of motion that is displaced from a proximal center of motion as the drive link moves a carriage of the second linear slide along an arcuate path.Type: GrantFiled: August 10, 2012Date of Patent: January 5, 2016Assignee: The Board of Trustees of the Leland Stanford Junior UniversityInventors: Reuben D. Brewer, J. Kenneth Salisbury, Jr.
-
Patent number: 9101397Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.Type: GrantFiled: August 21, 2013Date of Patent: August 11, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Gary S. Guthart, David S. Mintz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Robert G. Younge
-
Publication number: 20150209599Abstract: An imaging probe manipulator for use during a medical procedure includes a first manipulator linkage having a connector configured to attach to an imaging probe, a second manipulator linkage coupled to the first manipulator linkage at a first joint a third manipulator linkage coupled to the first or second manipulator linkage at a second joint. The first joint or the second joint has a degree of freedom. The imaging probe manipulator includes a force control transmission linked to the degree of freedom. The force control transmission component is configured to maintain a pre-determined force on the imaging probe when the imaging probe is in contact with a patient.Type: ApplicationFiled: July 29, 2013Publication date: July 30, 2015Inventors: Jeffrey S. Schlosser, Dimitre H. Hristov, J. Kenneth Salisbury, JR.
-
Patent number: 8924009Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.Type: GrantFiled: March 11, 2010Date of Patent: December 30, 2014Assignees: The Board of Trustees of the Leland Stanford Junior University, Sandia CorporationInventors: Curt Salisbury, J. Kenneth Salisbury, Jr.
-
Patent number: 8914150Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: GrantFiled: January 24, 2014Date of Patent: December 16, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
-
Publication number: 20140195048Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: ApplicationFiled: January 24, 2014Publication date: July 10, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, JR., Michael J. Tierney
-
Publication number: 20140194899Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.Type: ApplicationFiled: March 11, 2014Publication date: July 10, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Akhil J. MADHANI, J. Kenneth SALISBURY
-
Publication number: 20140135797Abstract: A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint.Type: ApplicationFiled: January 21, 2014Publication date: May 15, 2014Inventors: J. Kenneth Salisbury, Jr., Joan Savall
-
Patent number: 8715233Abstract: A vascular access device is provided with a needle assembly, a catheter assembly configured to slidably receive the needle assembly, and a light emitting assembly configured to couple to the needle assembly. The light emitting assembly and the needle assembly cooperate to shine a beam of light down the bore of the needle to assist with aligning the needle with a penetration site on target tissue. Systems and methods associated with these devices are also disclosed.Type: GrantFiled: December 21, 2012Date of Patent: May 6, 2014Assignee: The Board of Trustees of The Leland Stanford Junior UniversityInventors: Reuben Daniel Brewer, J. Kenneth Salisbury, Jr.
-
Patent number: 8709000Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.Type: GrantFiled: December 20, 2012Date of Patent: April 29, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Akhil J. Madhani, J. Kenneth Salisbury
-
Publication number: 20140107666Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the master with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.Type: ApplicationFiled: September 4, 2013Publication date: April 17, 2014Applicant: Massachusetts Institute of TechnologyInventors: Akhil J. Madhani, J. Kenneth Salisbury, Gunter G. Niemeyer
-
Patent number: 8666544Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: GrantFiled: July 10, 2013Date of Patent: March 4, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
-
Publication number: 20140051922Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.Type: ApplicationFiled: August 21, 2013Publication date: February 20, 2014Applicants: Intuitive Surgical, Inc., Intuitive Surgical Operations, Inc.Inventors: GARY S. GUTHART, David S. Mintz, Gunter D. Niemeyer, J. Kenneth Salisbury, JR., Robert G. Younge
-
Patent number: 8632064Abstract: A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint.Type: GrantFiled: July 15, 2009Date of Patent: January 21, 2014Assignee: The Board of Trustees of The Leland Stanford Junior UniversityInventors: J. Kenneth Salisbury, Jr., Joan Savall
-
Publication number: 20130331859Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.Type: ApplicationFiled: August 13, 2013Publication date: December 12, 2013Applicant: Intuitive Surgical Operations, Inc.Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, JR., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
-
Publication number: 20130304256Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: ApplicationFiled: July 10, 2013Publication date: November 14, 2013Inventors: Frederic H. MOLL, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, JR., Michael J. Tierney
-
Patent number: 8527094Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.Type: GrantFiled: December 27, 2005Date of Patent: September 3, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Rajesh Kumar, Brian Hoffman, Giuseppe Prisco, David Larkin, William Nowlin, Frederic Moll, Stephen Blumenkranz, Gunter D Niemeyer, J. Kenneth Salisbury, Yulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser, Ranjan Mauherjee
-
Patent number: 8504201Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: GrantFiled: November 18, 2011Date of Patent: August 6, 2013Assignee: Intuitive Sugrical Operations, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
-
Publication number: 20130184680Abstract: A vascular access device is provided with a needle assembly, a catheter assembly configured to slidably receive the needle assembly, and a light emitting assembly configured to couple to the needle assembly. The light emitting assembly and the needle assembly cooperate to shine a beam of light down the bore of the needle to assist with aligning the needle with a penetration site on target tissue. Systems and methods associated with these devices are also disclosed.Type: ApplicationFiled: December 21, 2012Publication date: July 18, 2013Inventors: Reuben Daniel Brewer, J. Kenneth Salisbury, JR.