Patents by Inventor William C. Nowlin
William C. Nowlin 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).
-
Publication number: 20070142823Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.Type: ApplicationFiled: June 30, 2006Publication date: June 21, 2007Applicant: Intuitive Surgical INC.Inventors: Giuseppe M. Prisco, David Q. Larkin, William C. Nowlin
-
Patent number: 7155315Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.Type: GrantFiled: December 12, 2005Date of Patent: December 26, 2006Assignee: Intuitive Surgical, Inc.Inventors: Gunter D. Niemeyer, Gary S. Guthart, William C. Nowlin, Nitish Swarup, Gregory K Toth, Robert G. Younge
-
Patent number: 7087049Abstract: The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.Type: GrantFiled: January 15, 2002Date of Patent: August 8, 2006Assignee: Intuitive SurgicalInventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
-
Patent number: 6879880Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.Type: GrantFiled: May 13, 2003Date of Patent: April 12, 2005Assignee: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, Robert G. Younge, Thomas G. Cooper, Craig Gerbi, Steven J. Blumenkranz, Dean F. Hoornaert
-
Patent number: 6858003Abstract: A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant.Type: GrantFiled: August 6, 2002Date of Patent: February 22, 2005Assignee: Intuitive Surgical, Inc.Inventors: Philip C. Evans, Frederic H. Moll, Gary S. Guthart, William C. Nowlin, Rand P. Pendleton, Christopher P. Wilson, Andris D. Ramans, David J. Rosa, Volkmar Falk, Robert G. Younge
-
Patent number: 6837883Abstract: Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.Type: GrantFiled: October 5, 2001Date of Patent: January 4, 2005Assignee: Intuitive Surgical, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Stephen J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney, David S. Mintz
-
Patent number: 6766204Abstract: This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established.Type: GrantFiled: December 28, 2001Date of Patent: July 20, 2004Assignee: Intuitive Surgical, Inc.Inventors: Gunter D. Niemeyer, William C. Nowlin, Gary S. Guthart
-
Publication number: 20040039485Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.Type: ApplicationFiled: August 19, 2003Publication date: February 26, 2004Applicant: Intuitive Surgical, Inc.Inventors: Gunter D. Niemeyer, Gary S. Guthart, William C. Nowlin, Nitish Swarup, Gregory K. Toth, Robert G. Younge
-
Patent number: 6671581Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.Type: GrantFiled: June 5, 2002Date of Patent: December 30, 2003Assignee: Intuitive Surgical, Inc.Inventors: Gunter D. Niemeyer, Gary S. Guthart, William C. Nowlin, Nitish Swarup, Gregory K. Toth, Robert G. Younge
-
Patent number: 6659939Abstract: 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 3, 1999Date of Patent: December 9, 2003Assignee: Intuitive Surgical, 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, Michael Tierney
-
Publication number: 20030216715Abstract: 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: April 24, 2003Publication date: November 20, 2003Applicant: INTUITIVE SURGICAL, 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, Michael J. Tierney
-
Patent number: 6645196Abstract: A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool is placed at an operating position inside the cavity using a slave manipulator disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool is decoupled from the slave manipulator and removed from the cavity. A second robotic surgical tool is introduced into the cavity. Based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool in close proximity to the location of the distal end of the first robotic surgical tool in the operating position prior to its removal from the cavity.Type: GrantFiled: June 16, 2000Date of Patent: November 11, 2003Assignee: Intuitive Surgical, Inc.Inventors: Thomas Robert Nixon, William C. Nowlin, Günter D. Niemeyer
-
Publication number: 20030195664Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.Type: ApplicationFiled: May 13, 2003Publication date: October 16, 2003Applicant: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, Robert G. Younge, Tom G. Cooper, Craig Gerbi, Stephen J. Blumenkranz, Dean F. Hoornaert
-
Patent number: 6594552Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.Type: GrantFiled: April 6, 2000Date of Patent: July 15, 2003Assignee: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, Robert G. Younge, Thomas G. Cooper, Craig Gerbi, Steven J. Blumenkranz, Dean F. Hoornaert
-
Publication number: 20030055410Abstract: A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant.Type: ApplicationFiled: August 6, 2002Publication date: March 20, 2003Applicant: Intuitive Surgical, Inc.Inventors: Philip C. Evans, Frederic H. Moll, Gary S. Guthart, William C. Nowlin, Rand P. Pendleton, Christopher P. Wilson, Andris D. Ramans, David J. Rosa, Volkmar Falk, Robert G. Younge
-
Publication number: 20030013949Abstract: 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: November 3, 1999Publication date: January 16, 2003Inventors: FREDERIC H. MOLL, DAVID J. ROSA, ANDRIS D. RAMANS, STEVEN J. BLUMENKRANZ, GARY S. GUTHART, GUNTER D. NIEMEYER, WILLIAM C. NOWLIN, J. KENNETH SALISBURY, MICHAEL J. TIERNEY
-
Publication number: 20030004610Abstract: Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.Type: ApplicationFiled: June 5, 2002Publication date: January 2, 2003Applicant: Intuitive Surgical, Inc.Inventors: Gunter D. Niemeyer, Gary S. Guthart, William C. Nowlin, Nitish Swarup, Gregory K. Toth, Robert G. Younge
-
Patent number: 6468265Abstract: A surgical system or assembly for performing cardiac surgery includes a surgical instrument; a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite to produce a resultant surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system for gathering movement information on a resultant surgical cardiac worksite. A control computer is engaged to the attachment assembly and to the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument in unison with the resultant surgical cardiac worksite such that a relative position of the moving surgical instrument with respect to the resultant surgical cardiac worksite is generally constant.Type: GrantFiled: November 9, 1999Date of Patent: October 22, 2002Assignee: Intuitive Surgical, Inc.Inventors: Philip C. Evans, Frederic H. Moll, Gary S. Guthart, William C. Nowlin, Rand P. Pendleton, Christopher P. Wilson, Andris D. Ramans, David J. Rosa, Volkmar Falk, Robert G. Younge
-
Patent number: 6459926Abstract: The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.Type: GrantFiled: September 17, 1999Date of Patent: October 1, 2002Assignee: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
-
Publication number: 20020128552Abstract: The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.Type: ApplicationFiled: January 15, 2002Publication date: September 12, 2002Applicant: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Gunter D. Niemeyer