Patents Assigned to Intuitive Surgical Operations, Inc.
  • Publication number: 20190282328
    Abstract: In accordance with at least one exemplary embodiment, a surgical instrument comprises a shaft comprising a distal end, a proximal end, and a wall extending from the distal end to the proximal end, the wall surrounding an interior of the shaft. A transmission housing is located at the proximal end of the shaft and the shaft is rotatably coupled to the transmission housing. An actuator in the transmission housing is operably coupled to actuate rotation of the shaft. A port in the transmission housing is configured to be fluidically coupled to a fluid supply. A manifold in the transmission housing comprises an inlet and an outlet, the inlet being in fluid communication with the port, the outlet being in fluid communication with the interior of the shaft at the proximal end of the shaft.
    Type: Application
    Filed: June 5, 2019
    Publication date: September 19, 2019
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: S. Christopher ANDERSON, Jordan M. KLEIN, William J. PARK, Denise PONGANIS, Daniel P. SARALIEV, Philip TRENHOLME
  • Publication number: 20190282253
    Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.
    Type: Application
    Filed: June 5, 2019
    Publication date: September 19, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventor: John Ryan STEGER
  • Patent number: 10416391
    Abstract: The ends of sensing and interrogating multicore fibers are brought into proximity for connection in a first orientation with one or more cores in the sensing fiber being paired up with corresponding one or more cores in the interrogating fiber. Optical interferometry is used to interrogate at least one core pair and to determine a first reflection value that represents a degree of alignment for the core pair in the first orientation. The relative position is adjusted between the ends of the fibers to a second orientation. Interferometry is used to interrogate the core pair and determine a second reflection value that represents a degree of alignment for the core pair in the second orientation. The first reflection value is compared with the second reflection value, and an aligned orientation is identified for connecting the sensing and interrogating fibers based on the comparison.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: September 17, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Mark Froggatt, Eric Sanborn, Jeffrey Lacroix
  • Patent number: 10413372
    Abstract: A guiding apparatus includes a plurality of collapsible support members, a plurality of retraction assemblies, each of the plurality of retraction assemblies coupled to a respective one of the plurality of collapsible support members, and a connector adapted to connect the plurality of retraction assemblies to a teleoperational manipulator arm. The plurality of collapsible support members have an extended configuration in which the plurality of collapsible support members are arranged to form a channel extending along a longitudinal axis, the channel sized to receive an elongated instrument. The plurality of collapsible support members have a collapsed configuration in which each of the plurality of collapsible support members is retracted within a respective coupled retraction assembly as the elongated instrument is advanced along the longitudinal axis.
    Type: Grant
    Filed: July 14, 2015
    Date of Patent: September 17, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Carolyn M. Fenech, Eleadin Castaneda, Benjamin E. Goodman
  • Publication number: 20190274781
    Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
    Type: Application
    Filed: June 22, 2017
    Publication date: September 12, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Bram Gilbert Antoon LAMBRECHT, S. Christopher ANDERSON, Thomas G. COOPER
  • Publication number: 20190274766
    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: Application
    Filed: May 30, 2019
    Publication date: September 12, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Robert E. HOLOP, Thomas G. COOPER
  • Patent number: 10410050
    Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
    Type: Grant
    Filed: November 29, 2017
    Date of Patent: September 10, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Tao Zhao
  • Patent number: 10405753
    Abstract: Sterile and non-toxic pharmaceutical compositions of near IR, closed chain, sulfo-cyanine dyes and methods for visualizing tissue under illumination with near-infrared radiation are provided.
    Type: Grant
    Filed: November 10, 2015
    Date of Patent: September 10, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Jonathan Sorger
  • Patent number: 10405934
    Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.
    Type: Grant
    Filed: February 13, 2017
    Date of Patent: September 10, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Giuseppe Maria Prisco, David J. Rosa
  • Patent number: 10405944
    Abstract: A computer-assisted medical device includes an articulated arm with a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to send a command to a plurality of brakes in the articulated arm to begin a release of the plurality of brakes in a predetermined staggered manner. In some embodiments the predetermined staggered manner prevents the simultaneous release of the plurality of breaks. In some examples, the predetermined staggered manner causes each brake in the plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to release within a predetermined time of each other. In some embodiments, the first predetermined staggered manner causes each brake in the first plurality of brakes to begin a gradual release within a predetermined time of each other.
    Type: Grant
    Filed: October 27, 2015
    Date of Patent: September 10, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nitish Swarup, Paul G. Griffiths, Goran A. Lynch, Daniel N. Miller
  • Publication number: 20190269470
    Abstract: A method performed by a computing system comprises determining an entry position and entry vector of an entry port in a surgical coordinate space. The entry port provides a passageway for insertion of a first medical instrument into a patient's body. The determination of the entry position and entry vector occurs while the first medical instrument is external to the entry port. The method also comprises positioning the first medical instrument based on the entry position and the entry vector of the entry port and advancing a distal end of the first medical instrument along the entry vector into the entry port.
    Type: Application
    Filed: September 29, 2017
    Publication date: September 5, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Federico BARBAGLI, Lisa L. ISON
  • Patent number: 10398520
    Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
    Type: Grant
    Filed: April 26, 2018
    Date of Patent: September 3, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Patent number: 10398521
    Abstract: A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: September 3, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Michael L. Hanuschik, Paul W. Mohr, Arjang M. Hourtash
  • Patent number: 10390685
    Abstract: A system comprises a deployment catheter defining at least one lumen and a hood projecting distally from the deployment catheter and defining an open area. The open area is in direct fluid communication with the at least one lumen. The system also comprises an elongate channel directly coupled to the hood such that the elongate channel terminates distally into the open area. The elongate channel extends proximally from an outer surface of the hood and is bounded proximally at a proximal pocket surface. The system also comprises an imaging element. The imaging element is sized to pass into the elongated channel at a distal end of the elongate channel. Proximal movement within the elongated channel is restricted by the proximal pocket surface. The system also comprises a control member extending within the elongate channel and through the proximal pocket surface for moving the imaging element through the elongate channel.
    Type: Grant
    Filed: December 4, 2015
    Date of Patent: August 27, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Vahid Saadat, Chris A. Rothe, Ruey-Feng Peh, Edmund A. Tam
  • Patent number: 10390894
    Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
    Type: Grant
    Filed: August 11, 2016
    Date of Patent: August 27, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger
  • Patent number: 10390896
    Abstract: A force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. A thermal shunt shell is over an outer surface of the tube portion.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: August 27, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Stephen J. Blumenkranz
  • Patent number: 10390689
    Abstract: A family of endoscopes includes a non-zero degree endoscope (210) and a zero degree endoscope (200). Zero degree endoscope (210) includes a first image capture unit (220A) mounted in a distal portion (270A) of the zero degree endoscope with a lengthwise axis of the first image capture unit substantially parallel to a lengthwise axis of that distal portion. Non-zero degree endoscope (210) includes a second image capture unit (220B) mounted in a distal portion (270B) of the non-zero degree endoscope with a lengthwise axis of the second image capture unit intersecting a lengthwise axis of that distal portion at a non-zero angle ?. The first and second image capture units have substantially identical non-folded optical paths.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: August 27, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Ian E. McDowall
  • Patent number: 10390898
    Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.
    Type: Grant
    Filed: July 22, 2015
    Date of Patent: August 27, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Jensen, Larry L. Howell, Spencer P. Magleby, Bryce Edmondson, Jordan Tanner, Clayton Grames, Jason Lund
  • Publication number: 20190254763
    Abstract: 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: Application
    Filed: March 29, 2017
    Publication date: August 22, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Bram Gilbert Antoon LAMBRECHT, Robert E. HOLOP
  • Patent number: 10383700
    Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.
    Type: Grant
    Filed: January 2, 2018
    Date of Patent: August 20, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Stephen J. Blumenkranz