Patents Assigned to Intuitive Surgical Operation, Inc.
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Patent number: 11896316Abstract: A method includes receiving anatomic image data comprising a plurality of graphical units; generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure; receiving an indication of a first user selected graphical unit, the first user selected graphical unit being outside the initial segmented set of the plurality of graphical units; applying a cost function to determine a first sequence of graphical units from the first user selected graphical unit to the initial segmented set of graphical units; receiving an indication of a second user selected graphical unit, the second user selected graphical unit being selected from the first sequence of the plurality of graphical units; and applying the cost function to determine a second sequence of the plurality of graphical units from the second user selected graphical unit to the initial segmented set of the plurality of graphical units.Type: GrantFiled: August 9, 2019Date of Patent: February 13, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Pechin Chien Pau Lo, Jun Ma, Tao Zhao
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Patent number: 11890013Abstract: Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the stapler cartridge to deploy staples from the stapler cartridge. An actuation mechanism is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the staple cartridge or a portion of the end effector; determine a distance of movement of the pusher member from the first position to the second position; and determine, based on the distance of movement, an operational status of the instrument relating to the stapler cartridge.Type: GrantFiled: May 16, 2022Date of Patent: February 6, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: William Burbank, Matthew A. Wixey, Nicholas Ragosta, David W. Weir, Emily Cooper, Melody Wu
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Patent number: 11890068Abstract: A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.Type: GrantFiled: August 27, 2021Date of Patent: February 6, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: David Q. Larkin, Vincent Duindam
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Patent number: 11889982Abstract: A system may comprise a first catheter having a first steerable segment and a second catheter disposed within the first catheter. The second catheter may have a second steerable segment. The system may also comprise an imaging element supported at a distal end of the second catheter, a coil reference sensor supported at a distal portion of the second catheter, and a processor in electrical communication with the coil reference sensor. The processor may be configured to determine a position of a distal portion of the first catheter with reference to the coil reference sensor.Type: GrantFiled: September 14, 2022Date of Patent: February 6, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Vahid Saadat, Ruey-Feng Peh, Edmund A. Tam
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Patent number: 11890073Abstract: A surgical instrument includes a shaft with a proximal end and a distal end, a movable component coupled at the distal end of the shaft, a force transmission mechanism coupled at the proximal end of the shaft, and an actuation element with a first end coupled to the force transmission mechanism and a second end coupled to the movable component. The actuation element being configured to transmit an actuation force from the force transmission mechanism to the movable component. A coil spring is coupled to the actuation element between the first and second ends. First and second ends of the coil spring are coupled to longitudinally separated locations on the actuation element. The coil spring is configured to passively expand and contract in response to tension changes in the actuation element. A distance between the longitudinally separated locations changes as the coil spring passively expands and contracts.Type: GrantFiled: December 21, 2021Date of Patent: February 6, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventor: Donald Alden
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Patent number: 11889975Abstract: A method for performing a surgical procedure includes adjusting an encoding configuration of a video encoder in response to receiving an input associated with a change of state of a surgical system performing the surgical procedure, and encoding image data of the surgical procedure captured after the change of state based on the adjusted encoding configuration.Type: GrantFiled: September 28, 2020Date of Patent: February 6, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Brian E. Miller, Joey Chau, Govinda Payyavula
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Patent number: 11890070Abstract: A medical instrument includes a backend and a pair of release elements. The backend includes a docking feature shaped to engage a docking structure such as a docking port of a surgical robot or a sterile adaptor for a surgical robot. Each release element is coupled to the backend and may include an activation feature on one side of the backend and a push tab extending from either an opposite side or the same side of the backend. Movement of the activation features moves the push tabs from being aligned with the docking feature to pushing on the docking structure, permitting the medical instrument to be disengaged from the docking structure. Optionally, a coupling of the release elements limits a movement of the activation features.Type: GrantFiled: March 29, 2017Date of Patent: February 6, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Bram Gilbert Antoon Lambrecht, Robert E. Holop
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Patent number: 11883001Abstract: A surgical apparatus includes a housing, a test port retainer, a pressure test chamber, and an image capture assembly. The housing includes a pressure test port. The test port retainer includes a test port retainer housing, a probe seal, and a liquid exclusion barrier. In one aspect, the test port retainer also includes a hydrophobic membrane mounted within the test port retainer housing. The pressure test chamber includes a manifold and a central tube. The first end of the central tube is affixed to the image capture assembly to form a pressure seal, and the second end of the central tube is coupled to the test port retainer so that the pressure test port communicates with the interior volume of the central tube through the test port retainer.Type: GrantFiled: September 28, 2022Date of Patent: January 30, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: William Jason Culman, Jaime G. Blackstad, Peter M. Herzlinger, Willard Curtis Lomax
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Patent number: 11883123Abstract: A surgical drape assembly can include a surgical drape; and a cinch assembly affixed to the surgical drape. The cinch assembly can include a folding mechanism having a plurality of links and at least two hinge joints respectively connecting respective adjacent links of the plurality of links. The plurality of links can be foldable relative to one another about the at least two hinge joints between an unfolded configuration and a folded configuration. A first portion of the surgical drape is in an extended configuration in the unfolded configuration with a portion of the drape being in a gathered configuration in the folded configuration of the plurality of links.Type: GrantFiled: June 20, 2017Date of Patent: January 30, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Craig R. Ramstad, Jeffrey R. Roeder, Jeffrey D. Brown, Robert E. Holop, Anthony K. McGROGAN
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Patent number: 11882996Abstract: A computer implemented method comprises receiving a model of a tissue region, steering a distal end of a catheter within a body to a first area of a tissue region, and obtaining a first image from the distal end of the catheter of the first area of the tissue region. The method further comprises mapping the first image of the first area of the tissue region to the model of the tissue region and displaying the first image of the first area of the tissue region on the model of the tissue region.Type: GrantFiled: September 11, 2019Date of Patent: January 30, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Vahid Saadat, Antony Jonathan Fields, Zachary J. Malchano, Chris Rothe, Veerappan Swaminathan, Jason Paul Watson, Bryan Wylie
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Patent number: 11883000Abstract: A medical instrument system includes an imaging probe and an elongated medical instrument. The imaging probe includes a first sealing feature comprising a first tapered profile formed on an external surface of the distal tip. The elongated medical instrument has a working channel extending to an opening in the distal portion. The distal portion includes a second sealing feature comprising a second tapered profile formed on an internal surface of the channel. A distal end surface of the distal tip extends through the opening and distally of a distal end surface of the elongated medical instrument when the first sealing feature is engaged with the second sealing feature. The first tapered profile and the second tapered profile form a seal that prevents fluid from passing through the opening when the imaging probe is within the working channel of the elongated medical instrument and the first and second sealing features contact.Type: GrantFiled: November 30, 2021Date of Patent: January 30, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Lucas S. Gordon, Randall L. Schlesinger
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Patent number: 11883066Abstract: An instrument access device of a teleoperated surgical system includes an envelope, a clamp, and a plurality of ports. The envelope includes a distal opening and a cavity. The clamp is in the distal opening of the envelope. The plurality of ports are coupled to the envelope. The plurality of ports are proximal to the clamp and the distal opening of the envelope. Each of the plurality of ports includes a seal, which is sized and shaped to seal an outer surface of a cannula and to fix a position of the cannula relative to the port and the envelope.Type: GrantFiled: February 19, 2021Date of Patent: January 30, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Ronald G. Litke, Kyle Miller, Jake A. Luckman, Joseph P. Orban, III
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Patent number: 11883109Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.Type: GrantFiled: October 5, 2020Date of Patent: January 30, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, David Q. Larkin, Paul E. Lilagan
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Patent number: 11882990Abstract: A system and method for data filtering of passageway sensor data include traversing a plurality of passageways with a flexible elongate device and recording, during the traversing, positional data using one or more sensors coupled to the flexible elongate device. The positional data includes a first plurality of positional data points recorded during a first insertion of the flexible elongate device into a first passageway and a second plurality of positional data points recorded during a first retraction of the flexible elongate device within the first passageway. The system and method further include labeling the first plurality of positional data points and the second plurality of positional data points as first common passageway positional data points and registering the positional data with a model of the plurality of passageways, wherein the registering includes matching the first common passageway positional data points with corresponding first common passageway model data points.Type: GrantFiled: February 1, 2018Date of Patent: January 30, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INCInventors: Tao Zhao, Timothy D. Soper
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Publication number: 20240023961Abstract: Surgical stapling instruments include mechanisms for identifying and/or deactivating stapler cartridges for use with the instruments. The stapling instrument includes a drive member for actuating a staple cartridge and a locking member movable from a disabled position permitting distal translation of the drive member through a staple firing stroke, to a locking position inhibiting distal translation of the drive member through the staple firing stroke. The staple cartridge may include a switch movable in a lateral direction to either maintain the locking member in the disabled position or to allow the locking member to move into the locking position. The instrument may further include a stapler cartridge including an annular pin configured to be engaged by a drive member at a an axial position to create a detectable resistance for reload detection by a control unit to identify the type of stapler cartridge present in the surgical stapling instrument.Type: ApplicationFiled: October 4, 2023Publication date: January 25, 2024Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Matthew Wixey, Atal Patel, Babak D. Jasemian, Nicholas Ragosta
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Publication number: 20240024069Abstract: A cleaning device for a surgical instrument can include a body; at least one passage extending through the body from a first open end of the body to a second open end of the body. The first and second open ends and the at least one passage can be dimensioned to receive and guide a shaft of a surgical instrument during a cleaning procedure. At least one aperture in flow communication with a port and the at least one passage can define a cleaning fluid path from the port to the passage.Type: ApplicationFiled: September 27, 2023Publication date: January 25, 2024Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: S. Christopher Anderson, Jordan Klein, Daniel Saraliev, Philip Trenholme
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Patent number: 11880513Abstract: Systems and methods for motion mode management include a computer-assisted device having an input control, a repositionable structure, and a controller coupled to the input control and the repositionable structure. The controller is configured to detect motion of the input control for controlling motion of the repositionable structure and in response to determining that the motion of the input control is likely to be confused with a first portion of a motion of the input control for indicating that a mode of operation of the computer-assisted device is to be changed, temporarily disable mode switching in response to motion of the input control.Type: GrantFiled: March 7, 2023Date of Patent: January 23, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Saleh Tabandeh, Caroline A. Edwards, Angel Jeremy Perez Rosillo
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Patent number: 11877819Abstract: A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. The plurality of splines engage the tapered projection of the drive shaft with the tapered bore of the capstan.Type: GrantFiled: October 5, 2020Date of Patent: January 23, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Matthew Aaron Wixey, Nicholas H. Ragosta
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Patent number: 11877816Abstract: A robotic system comprises a display that is viewable by an operator. An operator reference frame is defined relative to the display or the operator viewing the display. The robotic system also includes an input device movable by the operator and a processing unit. The processing unit is configured to present, in the display, a first image of a first tool captured by an imaging device, receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image, and in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.Type: GrantFiled: November 19, 2018Date of Patent: January 23, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Ambarish G. Goswami, Paul G. Griffiths, Brandon D. Itkowitz, Tao Zhao
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Patent number: 11877814Abstract: 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: GrantFiled: January 17, 2020Date of Patent: January 23, 2024Assignee: Intuitive Surgical Operations, Inc.Inventors: Samuel Kwok Wai Au, Giuseppe Maria Prisco