Patents Assigned to Intuitive Surgical Operations, Inc.
  • Publication number: 20210315648
    Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.
    Type: Application
    Filed: April 28, 2021
    Publication date: October 14, 2021
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Bram Gilbert Antoon LAMBRECHT, Thomas G. COOPER
  • Publication number: 20210315609
    Abstract: A medical device includes a tube comprising a proximal end, a distal end, a wall extending from the proximal end to the distal end of the tube and surrounding a hollow interior of the tube, and one or more engagement features on the lateral wall. An inflatable member is located at a distal end portion of the tube. The medical device also includes a repositionable anchor located on the tube proximal to the inflatable anchor and configured to engage the one or more features on the lateral wall. In a first configuration of the medical device, the repositionable anchor is translatable along the tube, and in a second configuration of the medical device the repositionable anchor is fixed in translation relative to the tube.
    Type: Application
    Filed: June 24, 2021
    Publication date: October 14, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Justin KROM, Ronald G. LITKE
  • Patent number: 11141232
    Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
    Type: Grant
    Filed: March 28, 2019
    Date of Patent: October 12, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Ryan Charles Abbott
  • Patent number: 11141046
    Abstract: An endoscope includes a first subassembly, a second subassembly, a third subassembly, and a fourth subassembly, which are sequentially assembled and tested in making the endoscope. The first subassembly includes a pressure-sealed electrical cable connected to an image capture unit. The second subassembly includes the first subassembly, a shell, a light pipe, and a lid. The third subassembly includes the second subassembly, a central tube, and a flange. The fourth subassembly includes the third subassembly, a base, a shaft, and optionally an articulating assembly.
    Type: Grant
    Filed: May 11, 2017
    Date of Patent: October 12, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William Jason Culman, Jaime G. Blackstad, Dominique D. Brichard, Peter M. Herzlinger, Willard Curtis Lomax
  • Patent number: 11135027
    Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to amounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: October 5, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Ryan Charles Abbott, Daniel H. Gomez, John Ryan Steger
  • Patent number: 11135023
    Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.
    Type: Grant
    Filed: January 12, 2018
    Date of Patent: October 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Patent number: 11135029
    Abstract: A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.
    Type: Grant
    Filed: October 5, 2018
    Date of Patent: October 5, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Ashwinram Suresh, Joey Chau
  • Patent number: 11137414
    Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.
    Type: Grant
    Filed: June 27, 2019
    Date of Patent: October 5, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Stephen J. Blumenkranz, Lawton N. Verner
  • Patent number: 11129684
    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Nitish Swarup, Paul G. Griffiths, Goran Lynch
  • Patent number: 11130231
    Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nitish Swarup, Paul G. Griffiths, Goran A. Lynch, Daniel N. Miller
  • Patent number: 11129683
    Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
    Type: Grant
    Filed: July 14, 2017
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: John Ryan Steger, Brian M. Crews, Craig R. Gerbi, Tyler J. Morrissette, Margaret M. Nixon, Joseph P. Orban, III, Theodore W. Rogers, Alain Sadaka, Charles E. Swinehart, Michael Turner, Kerry S. Wang
  • Patent number: 11129687
    Abstract: A sheath for a surgical instrument may include a sleeve having a distal end and proximal end, and a retention mechanism at a proximal end portion of the sleeve. The retention mechanism may comprise a sleeve attachment portion configured to be attached to the sleeve at the proximal end portion, and a locking collar extending from the sleeve attachment portion, wherein the locking collar is configured to receive a connector portion of a surgical instrument. The locking collar further may include a locking feature movable between a first configuration, in which the sheath is moveable relative to the surgical instrument, and a second configuration, in which the locking feature is configured to engage with the connector portion to retain the sheath in position on the surgical instrument.
    Type: Grant
    Filed: December 20, 2016
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Jeffrey R. Roeder, William J. Park
  • Patent number: 11129688
    Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: September 28, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Arjang M. Hourtash, Paul W. Mohr, David W. Robinson, Nitish Swarup, John W. Zabinski, Mark W. Zimmer
  • Patent number: 11123145
    Abstract: The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.
    Type: Grant
    Filed: April 18, 2017
    Date of Patent: September 21, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Jason Dearden, Jordan Tanner, Clayton Grames, Bryce Edmondson, Brian D. Jensen, Spencer P. Magleby, Larry L. Howell
  • Publication number: 20210282793
    Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
    Type: Application
    Filed: June 1, 2021
    Publication date: September 16, 2021
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: S. Christopher ANDERSON, Thomas G. COOPER
  • Patent number: 11116581
    Abstract: A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Vincent Duindam, Federico Barbagli, Timothy D. Soper
  • Patent number: 11116590
    Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 11116601
    Abstract: A method includes sensing magnet information at a plurality of magnet positions on a cannula and determining identification information for the cannula based on the magnet information.
    Type: Grant
    Filed: May 11, 2020
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon R. Garbus, Allen C. Thompson, Justin Krom
  • Patent number: 11120907
    Abstract: A system and method of coordinated motion includes a device with one or more movable elements and one or more processors. The device is configured to discover a second device, determine a desired type of coordinated motion based on the discovery of the second device, request a movement token of a first type from a token service, the first type being selected based on the desired type of coordinated motion, receive the movement token from the token service, receive configuration data, kinematic data, or planned motion data for the second device, plan a first motion for a movable element of the movable elements based on the first type of the movement token and the configuration data, the kinematic data, or the planned motion data for the second device, and execute the first motion while the device holds the movement token. The device and the second device are different heterogeneous devices.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Mahdi Azizian, Johnathan M. Sorger, Simon P. Dimaio
  • Patent number: D933223
    Type: Grant
    Filed: April 16, 2020
    Date of Patent: October 12, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Timothy B. Hulford, Robert Bruce Hubler