Patents by Inventor Samuel Kwok Wai Au

Samuel Kwok Wai Au 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: 10791908
    Abstract: A method, and associated system, includes receiving inputs from a medical instrument having at least one elongated actuation element used to manipulate a position of the instrument. The method also includes determining a force on a tip of the medical instruments by applying the inputs to a lumped model of the instrument, the lumped model comprising a mass of a motor user to operate the at least one elongated actuation member and a mass of at least a portion of a catheter body of the medical instrument.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: October 6, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Samuel Kwok Wai Au
  • Publication number: 20200268463
    Abstract: A system comprises a flexible instrument, a first user input device spaced from the flexible instrument, and a second user input device including a first state and a second state. The system further comprises a control system configured to, based on an input received from the first user input device, control an orientation of the flexible instrument. The control system is further configured to, based on an input received from the second user input device, adjust a stiffness of the flexible instrument. The stiffness of the flexible instrument is lower when the second user input device is in the first state than when the second user input device is in the second state.
    Type: Application
    Filed: May 13, 2020
    Publication date: August 27, 2020
    Inventor: Samuel Kwok Wai Au
  • Publication number: 20200254223
    Abstract: A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred.
    Type: Application
    Filed: April 30, 2020
    Publication date: August 13, 2020
    Inventors: Vincent Duindam, Samuel Kwok Wai Au, Caitlin Q. Donhowe, Carolyn M. Fenech, Catherine J. Mohr, Giuseppe Maria Prisco
  • Patent number: 10709516
    Abstract: A robotic system includes a master device and a slave manipulator configured to support an instrument. The instrument includes an instrument shaft having a proximal end and a distal end, and an end effector coupled to the distal end. The instrument shaft is optionally configured to be inserted into an inserted position through a port so as to provide the end effector with access to a site. A control system is operably coupled to the master device and to the slave manipulator. In response to input at the master device, the control system controls the slave manipulator to move the instrument based on modeling the end effector as being positioned along a line coincident with a longitudinal axis of the distal end of the instrument shaft. The line does not intersect the port when the instrument shaft is in the inserted position through the port. Methods relate to robotic systems.
    Type: Grant
    Filed: April 2, 2018
    Date of Patent: July 14, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Giuseppe Maria Prisco, Samuel Kwok Wai Au
  • Patent number: 10709514
    Abstract: A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.
    Type: Grant
    Filed: September 3, 2015
    Date of Patent: July 14, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Samuel Kwok Wai Au
  • Patent number: 10653866
    Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.
    Type: Grant
    Filed: September 6, 2016
    Date of Patent: May 19, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Vincent Duindam, Catherine J. Mohr, Carolyn M. Fenech, Giuseppe Maria Prisco, Samuel Kwok Wai Au, Caitlin Q. Donhowe
  • Publication number: 20200146761
    Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.
    Type: Application
    Filed: January 17, 2020
    Publication date: May 14, 2020
    Inventors: Samuel Kwok Wai Au, Giuseppe Maria Prisco
  • Patent number: 10568708
    Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.
    Type: Grant
    Filed: July 13, 2017
    Date of Patent: February 25, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Samuel Kwok Wai Au, Giuseppe Maria Prisco
  • Publication number: 20190269388
    Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
    Type: Application
    Filed: May 16, 2019
    Publication date: September 5, 2019
    Inventors: Samuel Kwok Wai Au, Stephen J. Blumenkranz, Giuseppe Maria Prisco
  • Patent number: 10321900
    Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: June 18, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Samuel Kwok Wai Au, Stephen J. Blumenkranz, Giuseppe Maria Prisco
  • Publication number: 20190076201
    Abstract: Systems and methods for controlling an insertion force when inserting a medical instrument through a cannula component are provided. Such a system may include a manipulator and a control system in communication with the manipulator. The manipulator is configured to be operatively coupled to a medical instrument. The manipulator is adapted to move the medical instrument through the cannula component. The control system is operative to determine an insertion profile associated with at least one of the medical instrument and the cannula component. And the control system is configured to control an insertion force to affect motion of the medical instrument during manual insertion of the medical instrument through the cannula component.
    Type: Application
    Filed: February 16, 2017
    Publication date: March 14, 2019
    Inventors: Melody Wu, Samuel Kwok Wai Au
  • Patent number: 10052167
    Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
    Type: Grant
    Filed: February 8, 2017
    Date of Patent: August 21, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
  • Publication number: 20180221101
    Abstract: A robotic system includes a master device and a slave manipulator configured to support an instrument. The instrument includes an instrument shaft having a proximal end and a distal end, and an end effector coupled to the distal end. The instrument shaft is optionally configured to be inserted into an inserted position through a port so as to provide the end effector with access to a site. A control system is operably coupled to the master device and to the slave manipulator. In response to input at the master device, the control system controls the slave manipulator to move the instrument based on modeling the end effector as being positioned along a line coincident with a longitudinal axis of the distal end of the instrument shaft. The line does not intersect the port when the instrument shaft is in the inserted position through the port. Methods relate to robotic systems.
    Type: Application
    Filed: April 2, 2018
    Publication date: August 9, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Giuseppe Maria PRISCO, Samuel Kwok Wai AU
  • Publication number: 20180193007
    Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
    Type: Application
    Filed: March 6, 2018
    Publication date: July 12, 2018
    Inventors: Samuel Kwok Wai Au, Stephen J. Blumenkranz, Giuseppe Maria Prisco
  • Patent number: 9949799
    Abstract: Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.
    Type: Grant
    Filed: February 29, 2016
    Date of Patent: April 24, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Pushkar Hingwe, Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
  • Patent number: 9931106
    Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
    Type: Grant
    Filed: October 31, 2013
    Date of Patent: April 3, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Samuel Kwok Wai Au, Stephen J. Blumenkranz, Giuseppe Maria Prisco
  • Publication number: 20180078249
    Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.
    Type: Application
    Filed: November 28, 2017
    Publication date: March 22, 2018
    Inventors: Katherine D. Stoy, Giuseppe Maria Prisco, Samuel Kwok Wai Au, Carolyn M. Fenech
  • Patent number: 9861447
    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
    Type: Grant
    Filed: January 21, 2016
    Date of Patent: January 9, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Amy E. Kerdok, Michael Turner
  • Patent number: 9839481
    Abstract: A system comprises a handpiece body configured to couple to a proximal end of a medical instrument and a manual actuator mounted in the handpiece body. The system further includes a plurality of drive inputs mounted in the handpiece body. The drive inputs are configured for removable engagement with a motorized drive mechanism. A first drive component is operably coupled to the manual actuator and also operably coupled to one of the plurality of drive inputs. The first drive component controls movement of a distal end of the medical instrument in a first direction. A second drive component is operably coupled to the manual actuator and also operably coupled to another one of the plurality of drive inputs. The second drive component controls movement of the distal end of the medical instrument in a second direction.
    Type: Grant
    Filed: March 5, 2014
    Date of Patent: December 12, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Stephen J. Blumenkranz, Samuel Kwok Wai Au
  • Publication number: 20170304014
    Abstract: Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.
    Type: Application
    Filed: July 13, 2017
    Publication date: October 26, 2017
    Inventors: Samuel Kwok Wai Au, Giuseppe Maria Prisco