Patents Assigned to Intuitive Surgical Operations, Inc.
  • Patent number: 10806531
    Abstract: A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Julie L. Berry, Joseph M. Arsanious, Paul W. Mohr
  • Patent number: 10806530
    Abstract: A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Hsien-Hsin Liao, Julie L. Berry, Pushkar Hingwe, Brandon D. Itkowitz
  • Patent number: 10806533
    Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.
    Type: Grant
    Filed: April 25, 2017
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Tabish Mustufa, Heath Feather, Daniel H. Gomez, Brian D. Hoffman, Paul W. Mohr, Huan L. Phan
  • Patent number: 10806524
    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: Grant
    Filed: August 23, 2018
    Date of Patent: October 20, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Stephen J. Blumenkranz, Gregory W. Dachs, II, Ian E. McDowall, Christopher J. Hasser
  • Patent number: 10806526
    Abstract: A wrist mechanism for a surgical instrument is disclosed. In some implementations, a surgical instrument includes an end effector and a unitary wrist mechanism coupled to the end effector, where the wrist mechanism is formed from a single piece of material. The wrist mechanism provides at least one degree of freedom to the end effector, and includes a plurality of link members linked together as well as one or more flexures, where at least one of the flexures includes a chain of a connected plurality of segments. Each flexure connects associated adjacent link members and enables rotational movement of the associated link members relative to each other to provide an associated degree of freedom to the end effector.
    Type: Grant
    Filed: October 16, 2014
    Date of Patent: October 20, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Michael Prindiville, Paren Shah
  • Patent number: 10806325
    Abstract: 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: Grant
    Filed: August 14, 2013
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brian E. Miller, Joey Chau, Govinda Payyavula
  • Publication number: 20200323423
    Abstract: A robotic system includes a display to display an image captured by an image capture device, a linkage movably supporting the display, the linkage including a multitude of links, a multitude of joints coupling the multitude of links, and a multitude of sensors configured to sense configuration information of the linkage. A physical movement of the display corresponds to a configuration change of the linkage. The robotic system further includes a processor coupled to the multitude of sensors. The processor is configured to obtain sensor signals from the multitude of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals.
    Type: Application
    Filed: April 27, 2020
    Publication date: October 15, 2020
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, William C. Nowlin
  • Patent number: 10799303
    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: August 13, 2014
    Date of Patent: October 13, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Anthony K. McGrogan, Robert E. Holop, Todd R. Solomon, Eugene F. Duval, Kent M. Anderson
  • Patent number: 10799306
    Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.
    Type: Grant
    Filed: November 4, 2016
    Date of Patent: October 13, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David W. Robinson, Gabriel F. Brisson, Amir Chaghajerdi, Pushkar Hingwe, Donald F. Wilson, Jr.
  • Patent number: 10792031
    Abstract: Devices and methods for minimally invasive suturing are disclosed. One suturing device for minimally invasive suturing includes a proximal section a distal end, and an intermediate region therebetween. The device includes a suture head assembly having a suturing needle with a pointed end and a second end. The suturing needle is capable of rotating about an axis approximately perpendicular to a longitudinal axis of the device, wherein the pointed end of the suturing needle is positioned within the suture head assembly prior to deployment of guides that are adapted and configured to guide the needle around a circular path when advanced by a drive mechanism having a needle driver for engaging and rotating the suturing needle.
    Type: Grant
    Filed: March 31, 2018
    Date of Patent: October 6, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gerald I. Brecher, John C. Meade, John Aho, Roger Baske, James H. Bleck, John F. Carlson, Thomas Eagan, Michael J. Helander, James W. Murray, Ashley Perkins, Wayne A. Shakal, Jonathan Towle
  • Patent number: 10791908
    Abstract: A method, and associated system, includes receiving inputs from a medical instrument having at least one elongated actuation element used to manipulate a position of the instrument. The method also includes determining a force on a tip of the medical instruments by applying the inputs to a lumped model of the instrument, the lumped model comprising a mass of a motor user to operate the at least one elongated actuation member and a mass of at least a portion of a catheter body of the medical instrument.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: October 6, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Samuel Kwok Wai Au
  • Patent number: 10792032
    Abstract: An apparatus and a method for surgical fastening is disclosed. An illustrative apparatus for tissue suturing includes a cartridge having a suturing needle having a pointed end and a blunt end, the suturing needle capable of rotating about an axis, a reciprocating needle drive, and an actuator capable of releasably engaging the needle drive to rotate the needle. A method for suturing tissue is provided that includes placing a suturing device having a cartridge containing a suturing needle to span at least one tissue segment, activating an actuator to cause rotational movement of the suturing needle through the at least one tissue segment, and deactivating the actuator to stop an advancing movement of the suturing needle to cause a suturing material to be pulled through the at least one tissue segment forming a stitch.
    Type: Grant
    Filed: March 31, 2018
    Date of Patent: October 6, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: John C. Meade, Niall G. Deloughry, Gerald I. Brecher, James H. Bleck
  • Patent number: 10792115
    Abstract: 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: Grant
    Filed: October 12, 2017
    Date of Patent: October 6, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Matthew Aaron Wixey, Nicholas H. Ragosta
  • Patent number: 10792107
    Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
    Type: Grant
    Filed: December 6, 2016
    Date of Patent: October 6, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Patent number: 10786318
    Abstract: In one embodiment of the invention, a link of a counter balanced arm is disclosed including, a hollow housing with a cylindrical cavity having an open end and a closed end with a small opening to allow cables to pass through; a first pivotal joint near the closed end of the hollow housing; a second pivotal join near the open end of the hollow housing; a compressible spring assembly received through the open end by the cylindrical cavity of the hollow housing; and a plug coupled to the open end of the cylindrical cavity of the hollow housing.
    Type: Grant
    Filed: January 29, 2018
    Date of Patent: September 29, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Thomas G. Cooper
  • Patent number: 10786315
    Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.
    Type: Grant
    Filed: November 12, 2015
    Date of Patent: September 29, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Ashwinram Suresh, Joey Chau
  • Patent number: 10786321
    Abstract: A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.
    Type: Grant
    Filed: January 31, 2017
    Date of Patent: September 29, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Alan W. Petersen, Gerard J. Labonville, John Ryan Steger
  • Patent number: 10779899
    Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.
    Type: Grant
    Filed: June 22, 2018
    Date of Patent: September 22, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Brandon D. Itkowitz, Thomas R. Nixon, Roman Devengenzo
  • Patent number: D897537
    Type: Grant
    Filed: May 18, 2018
    Date of Patent: September 29, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Timothy B. Hulford, Robert B. Hubler, Nicholas W. Oakley
  • Patent number: D898673
    Type: Grant
    Filed: October 31, 2018
    Date of Patent: October 13, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Bram Gilbert Antoon Lambrecht