Patents Assigned to Intuitive Surgical
  • Systems and methods of registration for image-guided procedures
    Patent number: 12096996
    Abstract: A device comprises an instrument usable to collect location data for one or more passageways. The device further comprises one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data by clustering the plurality of points based on distances between points of the plurality of points. The processor(s) are further configured to create a passageway tree based on the organized points and to identify at least three non-collinear landmark locations within the passageway tree. The processor(s) are further configured to create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data. The processor(s) are further configured to register, using the seed transformation, the plurality of points to the model data for the one or more passageways.
    Type: Grant
    Filed: May 23, 2023
    Date of Patent: September 24, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Tao Zhao
  • Systems and methods for instrument insertion control
    Patent number: 12097001
    Abstract: Techniques for instrument insertion control include a manipulator system. The manipulator system includes a manipulator configured to support an instrument and a control system coupled to the manipulator. The control system is configured to determine an insertion profile associated with at least one of the instrument or a cannula through which the instrument is configured to be inserted and resist or assist a manual insertion of the instrument through the cannula according to the insertion profile, wherein the resisting or assisting causes a velocity of the manual insertion to be uniform in response to a uniform force applied by the manual insertion.
    Type: Grant
    Filed: April 21, 2021
    Date of Patent: September 24, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Melody Wu, Samuel Kwok Wai Au
  • END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER
    Publication number: 20240307139
    Abstract: A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.
    Type: Application
    Filed: March 27, 2024
    Publication date: September 19, 2024
    Applicant: Intuitive Surgical Operations, Inc.
    Inventor: Grant M. KADOKURA
  • System and method for breakaway clutching in an articulated arm
    Patent number: 12089904
    Abstract: A system and method of breakaway clutching in a device includes an arm having a first joint and a control unit coupled to the arm. The control unit includes one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold. Movement of the first joint is more restricted in the first state than in the second state. The control unit further switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. The first threshold is based on at least one first property of the arm. The speed threshold is based on at least one second property of the arm.
    Type: Grant
    Filed: April 24, 2023
    Date of Patent: September 17, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Daniel Miller, Nitish Swarup, Michael Turner, Arjang M. Hourtash, Paul G. Griffiths, Paul W. Mohr
  • Systems and methods for inserting an elongate flexible instrument into an environment
    Patent number: 12089903
    Abstract: Illustrative systems and methods for inserting an elongate flexible instrument into a target environment are described. An illustrative system includes a guide device positioned near an opening to the target environment and having a rotary mechanism and a motor configured to drive the rotary mechanism. The system further includes a sensor system associated with insertion of the elongate flexible instrument along an insertion axis and a processor communicatively coupled to the motor and the sensor system. The processor is configured to receive sensor data from the sensor system, evaluate the sensor data, and control, based on the evaluation, the motor to actuate the elongate flexible instrument along the insertion axis. In some examples, the processor controls the motor to vary a rate of rotation of the rotary mechanism based on a determined system status.
    Type: Grant
    Filed: December 11, 2020
    Date of Patent: September 17, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Alain Sadaka, Wingman C. Tse, Joseph A. Kemp
  • Tension control in actuation of jointed instruments
    Patent number: 12089909
    Abstract: A medical instrument system includes actuators, a medical instrument, and a control system operably connected to the actuators. The medical instrument includes an end portion and transmission systems, each of which couples the end portion to an actuator of the actuators such that the actuators are operable to drive the transmission systems to move the end portion. The control system is configured to execute operations including determining a difference between a current configuration of the end portion and a desired configuration of the end portion, and operating the actuators to apply tensions to the transmission systems based on the difference and based on constant offset tensions. The constant offset tensions are independent of current tensions experienced by the transmission systems.
    Type: Grant
    Filed: November 17, 2022
    Date of Patent: September 17, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gabriel F. Brisson, Nicola Diolaiti, David W. Weir, Dimitrios Chatzigeorgiou
  • Minimally invasive surgical system
    Patent number: 12089809
    Abstract: A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.
    Type: Grant
    Filed: April 18, 2023
    Date of Patent: September 17, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • MEDICAL GAS DUCTS FOR MEDICAL GAS EVACUATION DEVICES AND RELATED SYSTEMS AND METHODS
    Publication number: 20240299677
    Abstract: A medical system can include a medical gas duct comprising a first end, a second end opposite the first end, a first opening at the first end of the duct, and a second opening at the second end of the duct. The first opening can be positioned to receive medical gas exiting an exhaust port of a medical gas evacuation unit. On the condition a medical suction supply provides a suction at the second opening of the duct, medical gas exiting the exhaust port of the medical gas evacuation unit flows into the first opening of the duct. Devices, systems, and methods relate to evacuating medical gasses.
    Type: Application
    Filed: November 29, 2021
    Publication date: September 12, 2024
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Humphrey W. Chow, Adam Klett, Daryl Oshatz, John W. Zabinski
  • SPLIT BRIDGE CIRCUIT FORCE SENSOR
    Publication number: 20240302227
    Abstract: A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.
    Type: Application
    Filed: March 18, 2024
    Publication date: September 12, 2024
    Applicant: Intuitive Surgical Operations, Inc.
    Inventor: Ashwinram SURESH
  • STAPLER RELOAD ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS
    Publication number: 20240299029
    Abstract: A stapler reload assembly includes a cartridge body. The cartridge body comprises a plurality of staple apertures configured to eject staples housed in the cartridge body and a staple retainer removably coupled to the cartridge body. The staple retainer comprises a main body portion configured to at least partially cover the plurality of staple apertures in a position of the staple retainer coupled to the cartridge body, a first handling portion extending from the main body portion at a distal end portion of the staple retainer, and a second handling portion proximal the first handling portion and coupled to the main body portion by a flexure. The second handling portion is elastically deflectable about the flexure and relative to the main body portion of the staple retainer from a neutral, first position to a deflected second position. Devices and methods relate to stapler reload assemblies.
    Type: Application
    Filed: January 18, 2022
    Publication date: September 12, 2024
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Emily COOPER, Heath CORBET, Austin C. de MAILLÉ, Babak D. JASEMIAN, Donald F. WILSON, Jr.
  • CONTROLLING CONDUCTIVE PATHS BETWEEN ELECTRODES IN ELECTROSURGICAL INSTRUMENTS AND RELATED SYSTEMS AND METHODS
    Publication number: 20240299080
    Abstract: An electrosurgical instrument may comprise electrodes provided on the working surfaces of each jaw member that can be set to different electrical potentials and/or polarities to perform electrosurgical operations, such as sealing and cutting. Different combinations of electrodes can be selectively activated to create different pathways for the transfer of electrical energy through the material, to achieve the desired effects.
    Type: Application
    Filed: March 24, 2022
    Publication date: September 12, 2024
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Jignesh M. Shah, Chien-Hsun Lee, Duane W. Marion, Benjamin J. Schoettgen
  • SURGICAL DRAPE AND SYSTEMS INCLUDING SURGICAL DRAPE AND ATTACHMENT SENSOR
    Publication number: 20240299113
    Abstract: A patient side cart can have a first sensor at an arm and a second sensor at a main column. A sterile barrier system can include a first drape to cover at least a portion of the arm of the cart, a first attachment device connected to the first drape, a second drape to cover at least a portion of the main column of the cart, and a second attachment device connected to the second drape. In an installed position of the first drape, the first sensor can detect he first attachment device and in an installed position of the second drape, the second sensor can to detect the second attachment device. A system comprising the cart and barrier system can output a warning in response to one or both of the first sensor not detecting the first attachment device and the second sensor not detecting the second attachment device.
    Type: Application
    Filed: May 17, 2024
    Publication date: September 12, 2024
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Roman L. Devengenzo, Michael L. Hanuschik, Gerard J. Labonville, Paul W. Mohr, Tyler J. Morrissette, Joseph P. Orban, III
  • Method for positioning an endoscope with flexible shaft
    Patent number: 12082780
    Abstract: Systems and methods for endoscopic operations are described. For example, the disclosure provides mechanisms for sensing and controlling a field of view of an endoscope by determining a pose of the field of view using a first location and a second location, and controlling the pose of the field of view by moving at least one of: the first portion and the second portion. The first location is of a first portion of the endoscope and the second location is of a second portion of the endoscope. The endoscope comprises a flexible portion disposed between the first portion and the second portion. The first and second locations are defined by a configuration, relative to the endoscope, of an endoscope support and a cannula. The endoscope support configured to support the endoscope. A shaft of the endoscope is configured to extend through the cannula.
    Type: Grant
    Filed: March 6, 2023
    Date of Patent: September 10, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon Itkowitz, Simon Peter DiMaio
  • Low-friction, small profile medical tools having easy-to-assemble components
    Patent number: 12082900
    Abstract: Systems and methods of assembling a wrist assembly are provided. The wrist assembly includes a tension member, a first link, and a second link. The second link includes an assembly path, a guide path, and a retention pocket. A first end portion of the tension member is inserted through the assembly path within the second link. The tension member is configured to be rotated to transition the first tension member portion from the assembly path to be within the guide path. The retention member is retained within the retention pocket on a condition that the first tension member portion is rotated to be within the guide path such that movement of the tension member relative to the second link is limited. Movement of the first tension member portion within the second guide path urges the second link to rotate relative to the first link.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: September 10, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Harsukhdeep Ratia, Alain Sadaka, Zhou Ye
  • Systems and methods for constraining a field of view in a virtual reality surgical system
    Patent number: 12082897
    Abstract: A method of operating a surgical control system comprises generating an image of a surgical environment from a viewpoint of an imaging tool. The image includes a field of view. The method further comprises displaying the image on a display system configured to be mounted to a head of a user. The method further comprises detecting a movement of the head of the user and determining if the movement of the user's head is within a boundary corresponding to the field of view. The method further comprises, if the movement of the user's head is determined to be within the boundary: generating a changed image of the surgical environment from a changed viewpoint of the imaging tool; and displaying the changed image on the display system. The changed image includes a changed field of view corresponding to the detected movement of the user's head.
    Type: Grant
    Filed: January 24, 2023
    Date of Patent: September 10, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Henry C. Lin, May Quo-Mei Liu
  • Motor interface for parallel drive shafts within an independently rotating member
    Patent number: 12082894
    Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
    Type: Grant
    Filed: April 19, 2023
    Date of Patent: September 10, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
  • Head movement control of a viewing system
    Patent number: 12082902
    Abstract: A computer-assisted medical system includes a display unit configured to provide images to an operator of the display unit, a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest, a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input, and a controller. The controller includes a computer processor, and is configured to process the sensor signals to obtain a driving input, drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement, and cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.
    Type: Grant
    Filed: August 21, 2020
    Date of Patent: September 10, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Sina Parastegari, Goran Lynch
  • Systems and methods for deformation compensation using shape sensing
    Patent number: 12082920
    Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.
    Type: Grant
    Filed: May 2, 2023
    Date of Patent: September 10, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Vincent Duindam, Prashant Chopra, Tao Zhao
  • Systems and methods for censoring confidential information
    Patent number: 12086284
    Abstract: A method and apparatus for censoring selected information. A mobile device is registered with a medical system. The medical system includes a display device. A trigger is received from the mobile device at the medical system. A display on the display device is modified in response to the received trigger. Selected information in the display is censored in the modified display. Alternatively, an image of a display on the display device is generated with selected information censored in response to receiving the trigger. The image of the display with the selected information censored is sent to the mobile device.
    Type: Grant
    Filed: July 10, 2019
    Date of Patent: September 10, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Federico Barbagli
  • Systems and methods of steerable elongate device
    Patent number: 12082793
    Abstract: A method comprises deploying a tool to a passageway exit site through a lumen of a flexible elongate device. The flexible elongate device comprises a proximal end, a distal end, and the lumen therebetween, and the tool comprises a needle. The method further comprises puncturing a passageway wall at the passageway exit site with the needle. The method further comprises deploying the needle through the passageway wall and through target tissue at a target location beyond the passageway wall. The method further comprises deploying an instrument to perform treatment on the target tissue at the target location. The instrument is deployed within the tool and through a perforation created in the target tissue by the needle.
    Type: Grant
    Filed: June 2, 2023
    Date of Patent: September 10, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Serena H. Wong, Benjamin G. Cohn, Hans F. Valencia