Patents Assigned to Intuitive Surgical Operations, Inc.
  • Construction and use of low tension medical instrument
    Patent number: 11717368
    Abstract: A medical system includes a medical instrument and first and second manipulators. The medical instrument includes a tendon that extends from an interface at a proximal portion of the medical instrument to an actuated element at a distal portion of the medical instrument. The first manipulator is configured to actively engage the tendon at a first location on the tendon to provide a preload tension. The second manipulator is configured to actively engage the tendon at a second location on the tendon to actuate the actuated element. One of the first manipulator or the second manipulator is configured to pull the tendon along a longitudinal axis of the tendon and the other of the first manipulator or the second manipulator is configured to deflect the tendon laterally with respect to the longitudinal axis.
    Type: Grant
    Filed: October 16, 2019
    Date of Patent: August 8, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Theodore W. Rogers, John Ryan Steger
  • Instrument carriage assembly for surgical system
    Patent number: 11717357
    Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
    Type: Grant
    Filed: December 5, 2019
    Date of Patent: August 8, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Bruce Michael Schena, Gregory W. Dachs, II, Todd Solomon
  • Laparoscopic ultrasound robotic surgical system
    Patent number: 11717365
    Abstract: A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.
    Type: Grant
    Filed: July 11, 2022
    Date of Patent: August 8, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Christopher J. Hasser, Russell H. Taylor, Joshua Leven, Michael Choti
  • ACTUATED GRIPS FOR CONTROLLER
    Publication number: 20230240775
    Abstract: Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.
    Type: Application
    Filed: March 24, 2023
    Publication date: August 3, 2023
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Matthew CAVALIER, Brian LUPTAK, Gregory W. DACHS, II
  • Robotic surgery system including position sensors using Fiber Bragg Gratings
    Patent number: 11712312
    Abstract: A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.
    Type: Grant
    Filed: September 17, 2021
    Date of Patent: August 1, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Master control device and methods therefor
    Patent number: 11712314
    Abstract: Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.
    Type: Grant
    Filed: November 14, 2018
    Date of Patent: August 1, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Allen C. Thompson, Grant M. Kadokura, John Ryan Steger
  • Hermetically sealed stereo endoscope of a minimally invasive surgical system
    Patent number: 11716455
    Abstract: In one embodiment, a method for a stereo endoscope includes receiving electromagnetic radiation through an inner protective window; focusing the electromagnetic radiation with a left optical component toward a left pixel array of a stereo image sensor along an optical axis of the left optical component parallel with but offset from a center axis of the left pixel array; and focusing the electromagnetic radiation with a right optical component toward a right pixel array of the stereo image sensor along an optical axis of the right optical component parallel with but offset from a center axis of the right pixel array. The left pixel array and the right pixel array are offset from the center optical axis of the stereo endoscope to provide stereo image convergence.
    Type: Grant
    Filed: May 17, 2021
    Date of Patent: August 1, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
  • Surgical instrument guide
    Patent number: 11712263
    Abstract: An instrument guide is removably inserted into a proximal portion of a cannula and extends to a distal end of the cannula to guide and support multiple surgical instruments within the cannula. The instrument guide is designed to be manufactured by injection molding of plastic material. The instrument guide includes a tube and several radial walls connected to the tube to form passageways within the tube. The radial walls are joined to a core where they intersect. The tube and radial walls have substantially the same wall thickness and the core has a minimum diameter that is substantially larger than the wall thickness to facilitate delivery of plastic material. Portions of the tube and radial walls are thinner than the general wall and rib thickness to form guideways that support surgical instruments within the passageways. Channels may be formed on an outside of the tube to deliver insufflation gas.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: August 1, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Tyler J. Morrissette
  • Clamping instrument
    Patent number: 11712243
    Abstract: Systems include an end effector having a first jaw and a second jaw, a motor system configured to actuate the end effector, and a processor. The processor is configured to determine a maximum tip deflection for the end effector, determine a torque limit based on the maximum tip deflection, and operate, subject to the torque limit, the end effector using the motor system. In some embodiments, the maximum tip deflection is determined based a type of staple cartridge being used by the end effector. In some embodiments, the type of staple cartridge identifies a length of staples fired by the end effector. In some embodiments, the firing of the staples is stalled when an applied torque exceeds the torque limit. In some embodiments, the processor is further configured to fire staples subject to the torque limit.
    Type: Grant
    Filed: May 14, 2019
    Date of Patent: August 1, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. Weir, Melody Wu, Kevin Durant, Grant Duque
  • Systems and methods for controlling a robotic manipulator or associated tool
    Patent number: 11712798
    Abstract: A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.
    Type: Grant
    Filed: October 28, 2021
    Date of Patent: August 1, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Dinesh Rabindran, Simon P. DiMaio, Kollin M. Tierling
  • System and method for reducing blade exposures
    Patent number: 11712300
    Abstract: Techniques for reducing blade exposures include one or more processors and a drive system configured to be coupled to a cutting instrument. The cutting instrument includes an end effector located at a distal end of the cutting instrument, the end effector comprising opposable gripping jaws and a cutting blade, a shaft configured to be coupled to the drive system, an articulated wrist coupling the end effector to the shaft and one or more drive mechanisms in the shaft for coupling force or torque from the drive system to the end effector and the articulated wrist. The one or more processors are configured to measure a jaw angle between the gripping jaws, measure articulation of the articulated wrist, correct the jaw angle based on the articulation of the articulated wrist, determine a cutting length based on the corrected jaw angle, and perform a cutting operation according to the cutting length.
    Type: Grant
    Filed: July 15, 2020
    Date of Patent: August 1, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. Weir, Julie L. Berry, Melissa D. Lippiatt, Daniel P. Saraliev, Melody Wu
  • Surgical port features with electrically conductive portions, related devices, and related methods
    Patent number: 11707613
    Abstract: A surgical port includes a first end, a second end opposite the first end, and a longitudinal axis extending through the first end and the second end. An outer sidewall extends between the first end and the second end. First and second channels extend through the port from the first end to the second end. A first electrically conductive portion extends from the first channel to the outer sidewall, and a second electrically conductive portion extends from the second channel to the outer sidewall. The first electrically conductive portion provides a first electrically conductive path between the first channel and the outer sidewall and the second electrically conductive portion provides a second electrically conductive path the second channel and the outer sidewall. The second electrically conductive path is separate from the first electrically conductive path. Devices and methods relate to surgical ports.
    Type: Grant
    Filed: March 20, 2020
    Date of Patent: July 25, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Michael Hurst, Sam Crews, Bryan E. Blair
  • Method and system for hand tracking in a robotic system
    Patent number: 11707336
    Abstract: A method and system for hand tracking in a robotic system includes a hand tracking system and a controller coupled to the hand tracking system. The controller is configured to receive, from the hand tracking system, a plurality of locations of a hand; determine if the hand is in a first hand pose based on the plurality of locations; in response to determining that the hand is in the first hand pose, and switch the robotic system to a hand trajectory detection mode. While in the hand trajectory detection mode, the control unit is configured to detect, based on hand tracking information from the hand tracking system, that the hand has performed a first hand trajectory of a plurality of known hand trajectories; and in response to detecting the first hand trajectory, change a mode of operation of the robotic system.
    Type: Grant
    Filed: December 11, 2019
    Date of Patent: July 25, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. Dimaio, Paul E. Lilagan, Tao Zhao
  • System and method for coordinated motion among heterogeneous devices using a movement token
    Patent number: 11710561
    Abstract: A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.
    Type: Grant
    Filed: August 26, 2021
    Date of Patent: July 25, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Mahdi Azizian, Simon P. DiMaio, Jonathan M. Sorger
  • Wireless force sensor on a distal portion of a surgical instrument and method
    Patent number: 11707335
    Abstract: A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.
    Type: Grant
    Filed: January 7, 2021
    Date of Patent: July 25, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Stephen J. Blumenkranz, Brett J. Lockyer
  • Surgical cannulas and related systems and methods of identifying surgical cannulas
    Patent number: 11707343
    Abstract: A teleoperable medical system comprises a manipulator arm and a cannula mount coupled to the manipulator arm. The manipulator arm comprises an interface configured to operably couple with a medical instrument. The cannula mount is configured to removably mount a cannula to the manipulator arm in a position to permit removable insertion of the medical instrument through the cannula. The cannula mount comprises a receptacle configured to receive an attachment portion of the cannula in a mounted state of the cannula, and a reader positioned to be in magnetic field sensing proximity to the attachment portion of the cannula in the mounted state of the cannula. The teleoperable medical system comprises a controller configured to receive output signals from the reader and determine identification information about the cannula based on the output signals.
    Type: Grant
    Filed: September 13, 2021
    Date of Patent: July 25, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon R. Garbus, Allen C. Thompson, Justin Krom
  • System and method for maintaining a tool position and orientation
    Patent number: 11707337
    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include a control unit and an articulated structure coupled to the control unit and including a plurality of joints. The articulated structure is configured to support an instrument. The control unit is configured to determine an error that is introduced to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument by movement of a first joint of the plurality of joints; and drive at least a second joint of the plurality of joints to reduce the error.
    Type: Grant
    Filed: July 29, 2021
    Date of Patent: July 25, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Nitish Swarup, Paul G. Griffiths, Goran Lynch
  • DEVICES AND METHODS FOR STRESS/STRAIN ISOLATION ON A FORCE SENSOR UNIT
    Publication number: 20230225817
    Abstract: A medical device includes a shaft comprising a proximal end portion and a distal end portion. A beam has a proximal end portion, a distal end portion, and a middle portion, and one or more strain sensors are on the middle portion. The proximal end portion of the beam is matingly coupled to the distal end portion of the shaft to form an interface. The beam comprises a discontinuity between the interface and the middle portion of the beam. In some embodiments, the medical device includes a link and the distal end portion of the beam is matingly coupled to the link to form a second interface. A second discontinuity is between the second interface and the middle portion of the beam. In some embodiments, an anchor is coupled to the shaft and the proximal end portion of the beam is matingly coupled to the anchor.
    Type: Application
    Filed: May 17, 2021
    Publication date: July 20, 2023
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Zhou YE, Lawrence KERVER, Harsukhdeep RATIA, Ashwinram SURESH
  • STAPLE CARTRIDGE AND DRIVE MEMBER FOR SURGICAL INSTRUMENT
    Publication number: 20230225731
    Abstract: The present disclosure provides a surgical instrument, such as a tissue sealing instrument, having a staple cartridge with a staple pusher and a staple; and a drive member configured to translate distally through the instrument. The drive member includes a lateral projection configured to engage the staple pusher and drive the staple into tissue. The lateral projection of the drive member has a height substantially less than the height of the staple cartridge, thereby requiring less clearance as it translates through the staple cartridge. In addition, the lateral projection has a smaller footprint than conventional drive members resulting in a more compact distal tip on the staple cartridge, which allows for a more compact and maneuverable surgical instrument.
    Type: Application
    Filed: March 24, 2023
    Publication date: July 20, 2023
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: William Burbank
  • ROBOTIC SURGICAL SYSTEM WITH PATIENT SUPPORT
    Publication number: 20230225808
    Abstract: A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.
    Type: Application
    Filed: March 3, 2023
    Publication date: July 20, 2023
    Applicant: Intuitive Surgical Operations, Inc.
    Inventor: Bruce SCHENA