Patents Assigned to Intuitive Surgical, Inc.
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Publication number: 20090062813Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.Type: ApplicationFiled: August 29, 2007Publication date: March 5, 2009Applicant: Intuitive Surgical INC.Inventors: Giuseppe Prisco, Hubert Stein, Paul Millman, David Bailey, William Nowlin, Michael Ikeda, Gregory K. Toth, Thomas Nixon
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Publication number: 20090036902Abstract: In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.Type: ApplicationFiled: August 11, 2008Publication date: February 5, 2009Applicants: Intuitive Surgical, Inc., The Johns Hopkins University c/o Johns Hopkins Technology TransferInventors: Simon P. DiMaio, Christopher J. Hasser, Russell H. Taylor, David Q. Larkin, Peter Kazanzides, Anton Deguet, Balazs Peter Vagvolgyi, Joshua Leven
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Publication number: 20080312668Abstract: The present invention is a device having a rigidly linked jaw that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like.Type: ApplicationFiled: November 30, 2007Publication date: December 18, 2008Applicant: Intuitive Surgical, Inc.Inventor: Kenneth Grace
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Patent number: 7453227Abstract: 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: GrantFiled: December 20, 2006Date of Patent: November 18, 2008Assignee: Intuitive Surgical, Inc.Inventors: Giuseppe M. Prisco, David Q Larkin
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Publication number: 20080255585Abstract: A tool guide for guiding an end effector of a robotically controlled surgical instrument from a position outside a patient body to a position in close proximity to an internal surgical site within the patient body is provided. The tool guide typically comprises a body, a seat formation on the body, the seat formation being arranged to seat in an aperture leading into the patient body so as to mount the tool guide on the patient body, and a sheath formation on the body. The sheath formation typically defines a longitudinally extending internal passage, an inlet leading into the passage and an outlet leading from the passage.Type: ApplicationFiled: June 19, 2008Publication date: October 16, 2008Applicant: Intuitive Surgical, Inc.Inventors: Craig Richard Gerbi, Daniel T. Wallace
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Publication number: 20080228196Abstract: The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position.Type: ApplicationFiled: April 16, 2008Publication date: September 18, 2008Applicant: Intuitive Surgical, Inc.Inventors: Yulun Wang, Darrin Uecker, Keith P. Laby, Jeff D. Wilson, Charles S. Jordan, James W. Wright, Modjtaba Ghodoussi
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Publication number: 20080221590Abstract: An apparatus includes two clamp assemblies on opposing sides of an operating table. A cross bar is attached to the assemblies and extends across a lowered leg section of the table. A pivot joint is coupled to the cross bar, a first linkage couples the pivot joint to a first ball joint, a second linkage couples the first ball joint to a second ball joint, and a medical device is coupled to the second ball joint through an adapter. Each joint has a spring mechanism resisting its movement and a hydraulic cylinder to allow its movement. Depression of a foot pedal actuates all hydraulic cylinders so that an operator may position the medical device by moving the pivot joint and attached first linkage rotationally about and directionally along the cross bar, the second linkage rotationally about the first ball joint, and the medical device rotationally about the second ball joint.Type: ApplicationFiled: August 29, 2007Publication date: September 11, 2008Applicant: Intuitive Surgical, Inc.Inventors: Michael Ikeda, Scott E Manzo, Gresham Richard, George T. Wong, Paul A. Licari, Shannon Lee Kelley
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Publication number: 20080221731Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.Type: ApplicationFiled: March 20, 2008Publication date: September 11, 2008Applicant: Intuitive Surgical, Inc.Inventors: Yulun Wang, Darrin R. Uecker, Keith Philip Laby, Jeff Wilson, Steve Jordan, James Wright
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Publication number: 20080221732Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.Type: ApplicationFiled: May 2, 2008Publication date: September 11, 2008Applicant: Intuitive Surgical, Inc.Inventors: Gregory K. Toth, Nitish Swarup, Tom Nixon, David Q. Larkin, Steven J. Colton
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Patent number: 7422592Abstract: A bipolar surgical instrument that includes opposing grips that can engage the tissue. A current is delivered from an electrosurgical power source to electrodes disposed on the grips to cauterize the tissue. The electrode configurations provide efficient cauterization of the tissue. In some embodiments, the positive and negative electrodes will be offset from each other to prevent shorting and to provide a thin line of coagulation heating to the gripped tissue. In some embodiments the electrodes are removably coupled to the grips through nonconductive sleeves. In some embodiments, the first electrode is disposed in a groove and the second electrode is disposed on a boss.Type: GrantFiled: February 9, 2007Date of Patent: September 9, 2008Assignee: Intuitive Surgical, Inc.Inventors: Tracy A. Morley, Daniel T. Wallace, Christopher W. Mauer
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Patent number: 7413565Abstract: A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.Type: GrantFiled: September 23, 2004Date of Patent: August 19, 2008Assignee: Intuitive Surgical, Inc.Inventors: Yulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser, Ranjan Mukherjee
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Patent number: 7408439Abstract: A method and apparatus for retrieving, accessing, and storing medical data relating to a patient during a medical procedure. The invention provides a single interface to many disparate forms of medical data, which is accessible over a local area network; wide area network, direct connection, or combinations thereof. In one embodiment, an operating room control system for use during a medical procedure on a patient includes an input device, a display device, and a controller that is coupled to the input device and the display device. The controller receives one or more user inputs, transmits a command to a server located outside of the operating room to retrieve medical data, receives the medical data from the server, and displays the medical data on the display device. Medical data can be captured by the controller using, for example, a camera and a video/image capture board, keyboard, and microphone during surgery or examination of the patient.Type: GrantFiled: September 3, 2004Date of Patent: August 5, 2008Assignee: Intuitive Surgical, Inc.Inventors: Gang Wang, Joseph F. Hahn, Amante Mangaser, David B. Roe, Charles P. Steiner, Darrin R. Uecker
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Patent number: 7398707Abstract: A robotic surgical tool includes an elongate shaft having a working end and a shaft axis, and a pair of linking arms each having a proximal end and a distal end. The proximal end is pivotally mounted on the working end of the shaft to rotate around a first pitch axis to produce rotation in first pitch. A wrist member has a proximal portion pivotally connected to the distal end of the linking arm to rotate around a second pitch axis to produce rotation in second pitch. An end effector is pivotally mounted on a distal portion of the wrist member to rotate around a wrist axis of the wrist member to produce rotation in distal roll. The wrist axis extends between the proximal portion and the distal portion of the wrist member. The elongate shaft is rotatable around the shaft axis to produce rotation in proximal roll. At about 90° pitch, the wrist axis is generally perpendicular to the shaft axis. The proximal roll around the shaft axis and the distal roll around the wrist axis do not overlap.Type: GrantFiled: April 6, 2005Date of Patent: July 15, 2008Assignee: Intuitive Surgical Inc.Inventors: Tracey A. Morley, Daniel T. Wallace
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Patent number: 7395249Abstract: A robotic system which controls the movement of a surgical instrument in response to voice commands from the user. The robotic system has a computer controlled arm that holds the surgical instrument. The user provides voice commands to the computer through a microphone. The computer contains a phrase recognizer that matches the user' speech with words stored in the computer. Matched words are then processed to determine whether the user has spoken a robot command. If the user has spoken a recognized robot command the computer will move the robotic arm in accordance with the command.Type: GrantFiled: September 15, 2004Date of Patent: July 1, 2008Assignee: Intuitive Surgical, Inc.Inventors: Yulun Wang, Darrin Uecker
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Publication number: 20080151041Abstract: Two side-by-side optical paths transmit stereoscopic right side and left side images onto the surface of a single image sensing chip. The single image sensing chip may be placed at various orientations with respect to the lens trains in the optical paths. In some embodiments a single prism is used to turn the light for both the right side and left side images onto the single image sensing chip. In other embodiments one prism is used to turn the light for the right side image and another prism is used to turn the light for the left side image, and the reflective surfaces of the two prisms are substantially coplanar such that the right side and left side images are incident on the single image sensor chip.Type: ApplicationFiled: December 21, 2006Publication date: June 26, 2008Applicant: Intuitive Surgical, Inc.Inventors: DAVID CHRISTOPHER SHAFER, Dennis C. Leiner
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Publication number: 20080154246Abstract: 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: January 18, 2008Publication date: June 26, 2008Applicant: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, Robert G. Younge, Thomas G. Cooper, Craig Gerbi, Stephen J. Blumenkranz, Dean F. Hoornaert
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Patent number: 7391173Abstract: A capstan drive includes a first capstan that moves a device on a carriage and a second capstan that receives a second rotary motion to move the carriage. A first power transmission has a driven shaft coupled to the first capstan, a first drive shaft coaxial with the driven shaft to receive a first rotary motion for driving the device, and a second drive shaft coaxial with the driven shaft. A second power transmission couples the second rotary motion to the second drive shaft. The second power transmission has a drive ratio such that if there is no first rotary motion, a first cable is drawn in by the first capstan at the same rate as a second cable is drawn in by the second capstan in response to the second rotary motion.Type: GrantFiled: June 30, 2006Date of Patent: June 24, 2008Assignee: Intuitive Surgical, IncInventor: Bruce M. Schena
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Patent number: 7390325Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.Type: GrantFiled: February 17, 2006Date of Patent: June 24, 2008Assignee: Intuitive Surgical, Inc.Inventors: Yulun Wang, Darrin R Uecker, Keith Phillip Laby, Jeff Wilson, Steve Jordan, James Wright
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Publication number: 20080147089Abstract: In one embodiment, a method of wireless communication in a robotic surgical system comprises providing a carriage link of a robotic manipulator including a printed circuit assembly and a link communication device, positioning a sterile drape over the robotic manipulator, mounting a removable surgical instrument on the carriage link, and passing data wirelessly in either or both directions through the sterile drape between the link communication device and the surgical instrument along with power for electrical circuitry on the instrument. A robotic manipulator and robotic surgical system are also provided.Type: ApplicationFiled: December 31, 2007Publication date: June 19, 2008Applicant: Intuitive Surgical, Inc.Inventors: Alan Loh, Roman L. Devengenzo
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Publication number: 20080147091Abstract: The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween. The drive and control component is shielded from the sterile surgical site, the surgical tool is sterilizable and disposable and the intermediate connector is sterilizable and reusable. In this manner, the intermediate connector can be sterilized after a surgical procedure without damaging the motors or electrical connections within the drive and control component of the robotic system.Type: ApplicationFiled: February 21, 2008Publication date: June 19, 2008Applicant: Intuitive Surgical, Inc.Inventor: Thomas G. Cooper