Patents Assigned to Intuitive Surgical, Inc.
  • Publication number: 20110196419
    Abstract: A surgical end effector includes a clevis and two jaws pivotally coupled to the clevis. A wire is coupled to each jaw and extended through a guide way in the other jaw and through an end of the clevis. The jaws may be opened and closed by pushing and pulling on the two cables. Pulling on each wire creates a closing force in both jaws. A rocking pin may be pivotally supported by the clevis and pivotally coupled to the jaws to constrain the jaws to have opposite motions. The clevis may be coupled to an elongate shaft and the wires extended through the shaft to provide an endoscopic instrument. A wire guide may support the wires in the shaft such that they are able to transmit a compressive force without buckling. The wires may carry electricity to the jaws for electrocautery.
    Type: Application
    Filed: February 8, 2010
    Publication date: August 11, 2011
    Applicant: INTUITIVE SURGICAL, INC.
    Inventor: Thomas G. Cooper
  • Publication number: 20110166706
    Abstract: A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
    Type: Application
    Filed: January 26, 2011
    Publication date: July 7, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: GIUSEPPE M. PRISCO, David Q. Larkin
  • Publication number: 20110160904
    Abstract: A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
    Type: Application
    Filed: January 25, 2011
    Publication date: June 30, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: GIUSEPPE M. PRISCO, David Q. Larkin
  • Publication number: 20110118749
    Abstract: A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
    Type: Application
    Filed: November 13, 2009
    Publication date: May 19, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe M. Prisco, Thedore W. Rogers, John Ryan Steger
  • Publication number: 20110118748
    Abstract: A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.
    Type: Application
    Filed: November 13, 2009
    Publication date: May 19, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventor: Brandon Itkowitz
  • Publication number: 20110119023
    Abstract: A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.
    Type: Application
    Filed: November 13, 2009
    Publication date: May 19, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Vincent Duindam, Giuseppe M. Prisco, Theodore W. Rogers, John Ryan Steger
  • Publication number: 20110113852
    Abstract: Calibration methods and apparatuses for a shape sensing optical fiber are disclosed. Strain is sensed in an optical fiber that is associated with a kinematic chain, and information derived from the sensed strain is used to determine a calibration relationship between the fiber and the kinematic chain. The strain may be sensed at a plurality of angles between two links in the kinematic chain. The strain may be sensed in a segment of the optical fiber that is associated with a joint in the kinematic chain as the joint sweeps through an arc. The strain may be sensed for the optical fiber in a known, predefined bend shape. The calibration information is stored in memory for later use during operation of the kinematic chain, so that shape information from the optical fiber can be used to accurately indicate the shape or pose of the kinematic chain.
    Type: Application
    Filed: November 13, 2009
    Publication date: May 19, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventor: Giuseppe Maria Prisco
  • Publication number: 20110082369
    Abstract: In one embodiment of the invention, an apparatus includes a display device. The display device displays a desaturated image of tissue captured in the visible electro-magnetic (EM) spectrum from a body cavity; and a first color enhanced image combined with the desaturated image. The first color enhanced image represents the first data captured from the body cavity outside the visible electromagnetic spectrum. The relative brightness between the desaturated image and the first color enhanced image is set to emphasize the first data over the tissue captured in the visible electromagnetic spectrum to provide improved information content.
    Type: Application
    Filed: October 7, 2009
    Publication date: April 7, 2011
    Applicant: INTUITIVE SURGICAL, INC.
    Inventors: CATHERINE MOHR, Ian McDowall, Paul Mohr
  • Publication number: 20110082365
    Abstract: A cannula provides access to a surgical site for a camera instrument and one or more minimally invasive surgical instruments. The cannula may include a curved or flexible section when used with flexible surgical instruments. A service port is defined in a sidewall between proximal and distal ends of the cannula, the service port being large enough to allow an object to be transferred between the instruments and a location outside the cannula. An end effector of the surgical instrument may be positioned within the cannula adjacent the service port. The camera instrument may be positioned to place the end effector within a field of view of the camera. An object may be transferred between a service instrument and the surgical instrument within the field of view of the camera.
    Type: Application
    Filed: October 1, 2009
    Publication date: April 7, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Anthony McGrogan, Paul Lilagan, Giuseppe Maria Prisco
  • Publication number: 20110071347
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. The support fixtures include arms that swing in an arc to insert a curved cannula, repositionable arms coupled to a stable cannula base, and an insertion cap that holds a cannula. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Theodore W. Rogers, John Ryan Steger, Charles E. Swinehart
  • Publication number: 20110071543
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe Maria Prisco, Samuel Au
  • Publication number: 20110071544
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. Force isolation elements within the flexible shafts prevent shaft bending from affecting end effector actuation elements that extends through the shafts. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: JOHN RYAN STEGER, Craig R. Gerbi, Giuseppe Maria Prisco, Theodore W. Rogers
  • Publication number: 20110071542
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe Maria Prisco, Craig R. Gerbi, Theodore W. Rogers, John Ryan Steger
  • Publication number: 20110071541
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe Maria Prisco, Samuel Au, Craig R. Gerbi, Theodore W. Rogers, John Ryan Steger, Charles E. Swinehart
  • Publication number: 20110071473
    Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
    Type: Application
    Filed: November 13, 2009
    Publication date: March 24, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: THEODORE W. ROGERS, Craig R. Gerbi, John Ryan Steger, Charles E. Swinehart
  • Publication number: 20110040305
    Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
    Type: Application
    Filed: November 5, 2009
    Publication date: February 17, 2011
    Applicant: INTUITIVE SURGICAL, INC.
    Inventors: DANIEL GOMEZ, NICOLA DIOLAITI, DAVID Q. LARKIN, PAUL E. LILAGAN, PROBAL MITRA, TABISH MUSTAFA
  • Publication number: 20110040404
    Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.
    Type: Application
    Filed: August 15, 2009
    Publication date: February 17, 2011
    Applicant: Intuitive Surgical, Inc.
    Inventors: NICOLA DIOLAITI, Paul E. Lilagan
  • Publication number: 20100332031
    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
    Type: Application
    Filed: June 30, 2009
    Publication date: December 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Brandon D. Itkowitz, Simon DiMaio, William C. Nowlin, G√ľnter D. Niemeyer, David S. Mintz
  • Publication number: 20100332030
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Application
    Filed: June 24, 2009
    Publication date: December 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: DAVID Q. LARKIN, Vincent Duindam
  • Publication number: 20100331820
    Abstract: A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue.
    Type: Application
    Filed: June 30, 2009
    Publication date: December 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe M. Prisco, Eugene F. Duval, Theodore W. Rogers