Patents Assigned to Intuitive Surgical, Inc.
  • Publication number: 20100331855
    Abstract: Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
    Type: Application
    Filed: June 30, 2009
    Publication date: December 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Tao Zhao, Wenyi Zhao, Brian David Hoffman, William C. Nowlin, Hua Hui
  • Publication number: 20100332033
    Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.
    Type: Application
    Filed: June 30, 2009
    Publication date: December 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Nicola Diolaiti, Giuseppe Prisco
  • Publication number: 20100318099
    Abstract: 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: Application
    Filed: June 16, 2009
    Publication date: December 16, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: BRANDON D. ITKOWITZ, Tao Zhao, Simon Dimaio, Wenyi Zhao, Christopher J. Hasser, Myriam J. Curet, Catherine J. Mohr, Hubert Stein
  • Publication number: 20100317965
    Abstract: 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: Application
    Filed: June 16, 2009
    Publication date: December 16, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: BRANDON D. ITKOWITZ, Tao Zhao, Simon Dimaio, Wenyi Zhao, Christopher J. Hasser, Myrian J. Curet, Catherine J. Mohr, Hubert Stein
  • Publication number: 20100298843
    Abstract: In one embodiment, a force sensing robotic surgical instrument includes a proximal housing linkable with a surgical robot arm, a shaft having a proximal portion and a distal portion, the proximal portion operably coupled to the housing, and a force transducer operably coupled to the distal portion of the shaft, the force transducer having a proximal portion, a distal portion, a plurality of radial ribs, and a strain gauge positioned over each of the plurality of radial ribs, the radial ribs forming a plurality of through passages. The instrument further includes a wrist mechanism coupled to the distal portion of the force transducer, an end effector coupled to the wrist mechanism, and a flush manifold that receives a liquid from the proximal portion of the shaft and directs the liquid along a first subset of through passages of the force transducer toward the distal portion of the force transducer.
    Type: Application
    Filed: May 19, 2009
    Publication date: November 25, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventor: STEPHEN J. BLUMENKRANZ
  • Publication number: 20100251514
    Abstract: A caster assembly includes a primary wheel and a secondary wheel. As the caster assembly is rolled against and over an obstacle threshold, the secondary wheel is positioned to contact the obstacle threshold first. As the caster assembly begins to roll over the threshold, the secondary wheel lifts the caster assembly part way. As the caster assembly continues to roll over the threshold, the primary wheel contacts the threshold and lifts the caster assembly over the obstacle threshold. One or more secondary or primary wheels may be used. The secondary wheel or wheels may be positioned to remain within a sweep volume of the primary wheel as the caster assembly swivels around a caster swivel axis.
    Type: Application
    Filed: April 1, 2009
    Publication date: October 7, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: RANDAL P. GOLDBERG, DEAN F. HOORNAERT, DEEPAK R. KAPOOR, MARK W. ZIMMER
  • Publication number: 20100245541
    Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.
    Type: Application
    Filed: March 31, 2009
    Publication date: September 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Tao Zhao, Weny Zhao, David D. Scott
  • Publication number: 20100250000
    Abstract: 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: Application
    Filed: March 31, 2009
    Publication date: September 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian McDowall, Christopher J. Hasser
  • Publication number: 20100249507
    Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.
    Type: Application
    Filed: March 26, 2009
    Publication date: September 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Giuseppe Prisco, Vincent Duindam
  • Publication number: 20100249506
    Abstract: Navigation guidance is provided to an operator of an endoscope by determining a current position and shape of the endoscope relative to a reference frame, generating an endoscope computer model according to the determined position and shape, and displaying the endoscope computer model along with a patient computer model referenced to the reference frame so as to be viewable by the operator while steering the endoscope within the patient.
    Type: Application
    Filed: March 26, 2009
    Publication date: September 30, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventor: Giuseppe Prisco
  • Publication number: 20100225209
    Abstract: A control console to remotely control medical equipment is disclosed having a base with an ergonomically adjustable pedal system. The base further has an opening to receive the pedal system. The pedal system includes a moveable pedal tray with a pedal base. The tray includes a first left pedal assembly and a first right pedal assembly, and an upper tier having a second left pedal assembly and a second right pedal assembly respectively in alignment with and elevated above the first left pedal assembly and the first right pedal assembly. Rollers are rotatable coupled to the moveable pedal tray to allow it roll over a floor. A drive assembly is coupled between the moveable pedal tray and the base. The drive assembly applies a force to the to roll the moveable pedal tray over the floor within the opening of the base.
    Type: Application
    Filed: March 9, 2009
    Publication date: September 9, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Randal P. Goldberg, Michael Hanuschik, Henry Hazebrouk, Paul Millman, Deepak Kapoor, John Zabinski, David Robinson, David Weir, Salvatore J. Brogna
  • Publication number: 20100228266
    Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
    Type: Application
    Filed: March 17, 2009
    Publication date: September 9, 2010
    Applicant: INTUITIVE SURGICAL, INC.
    Inventor: Arjang Hourtash
  • Publication number: 20100228249
    Abstract: A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.
    Type: Application
    Filed: March 9, 2009
    Publication date: September 9, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Paul W. Mohr, David Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Salvatore J. Brogna
  • Publication number: 20100228265
    Abstract: A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.
    Type: Application
    Filed: March 9, 2009
    Publication date: September 9, 2010
    Applicant: INTUITIVE SURGICAL, INC.
    Inventor: Giuseppe M. Prisco
  • Publication number: 20100198215
    Abstract: Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Examples of in vivo accessories include fastening accessories such as surgical clips for use with a clip applier, single working member accessories such as a blade which can be grasped and manipulated by a grasping tool for cutting, sheath accessories that fit over working members of a tool, flow tubes for providing suction or introducing a fluid into the surgical site, and a retraction member resiliently biased to retract a tissue to expose an area in the surgical site for treatment. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site.
    Type: Application
    Filed: March 18, 2010
    Publication date: August 5, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Christopher A. Julian, Daniel T. Wallace, Frederic H. Moll, Dean F. Hoornaert, David J. Rosa, John G. Freund, John W. Hill
  • Publication number: 20100174293
    Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.
    Type: Application
    Filed: December 31, 2009
    Publication date: July 8, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce Schena, Michael Prindiville, Thomas G. Cooper, William Burbank
  • Publication number: 20100169815
    Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.
    Type: Application
    Filed: April 22, 2009
    Publication date: July 1, 2010
    Applicant: INTUITIVE SURGICAL, INC.
    Inventors: Wenyi Zhao, Tao Zhao, David Q. Larkin
  • Publication number: 20100164950
    Abstract: 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: Application
    Filed: May 13, 2009
    Publication date: July 1, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Wenyi Zhao, Chenyu Wu, David Hirvonen, Christopher J. Hasser, Brian E. Miller, Catherine J. Mohr, Myriam J. Curet, Tao Zhao, Simon Dimaio, Brian D. Hoffman
  • Publication number: 20100168510
    Abstract: A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in a distal tip of the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction, and the sheaths can be porous or non-porous. The lubricant can be confined, for example, with an o-ring or a bellow seal, to keep lubricant from leaking where the tendons extend out of the sheaths. More generally, the distal end of the instrument is sealed to prevent leakage of lubricant into a patient. To further reduce risks, a non-toxic water-based lubricant can be used.
    Type: Application
    Filed: December 30, 2008
    Publication date: July 1, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: Theodore W. Rogers, John Ryan Steger, Eugene F. Duval
  • Publication number: 20100168763
    Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.
    Type: Application
    Filed: April 23, 2009
    Publication date: July 1, 2010
    Applicant: Intuitive Surgical, Inc.
    Inventors: TAO ZHAO, WENYI ZHAO, WILLIAM C. NOWLIN