Patents by Inventor Anthony K. McGrogan

Anthony K. McGrogan has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20200268465
    Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
    Type: Application
    Filed: May 14, 2020
    Publication date: August 27, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Anthony K. McGROGAN, Jeffrey D. BROWN, Thomas G. COOPER, Eugene F. DUVAL, Daniel H. GOMEZ, Robert E. HOLOP, Craig R. RAMSTAD
  • Publication number: 20200246096
    Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.
    Type: Application
    Filed: April 17, 2020
    Publication date: August 6, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Daniel H. GOMEZ, Jeffrey D. BROWN, Thomas G. COOPER, Eugene F. DUVAL, Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD, Theodore W. ROGERS, Todd R. SOLOMON
  • Publication number: 20200222130
    Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Application
    Filed: March 26, 2020
    Publication date: July 16, 2020
    Applicant: 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: 10710246
    Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
    Type: Grant
    Filed: August 12, 2015
    Date of Patent: July 14, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. McGrogan, Thomas G. Cooper, David Q. Larkin, Kent M. Anderson, Jeffrey D. Brown, Paul E. Lilagan, Michael Ikeda
  • Patent number: 10624672
    Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
    Type: Grant
    Filed: September 28, 2017
    Date of Patent: April 21, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Daniel H. Gomez, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
  • Publication number: 20200106937
    Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
    Type: Application
    Filed: September 11, 2019
    Publication date: April 2, 2020
    Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
  • Publication number: 20200054404
    Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.
    Type: Application
    Filed: October 23, 2019
    Publication date: February 20, 2020
    Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
  • Patent number: 10537358
    Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
    Type: Grant
    Filed: April 11, 2014
    Date of Patent: January 21, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad
  • Publication number: 20200000490
    Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
    Type: Application
    Filed: September 9, 2019
    Publication date: January 2, 2020
    Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad
  • Patent number: 10470827
    Abstract: A rotating assistant port device including a circular elastomeric element, a sleeve coupled to the circular elastomeric element, a sleeve mount coupled to the sleeve opposite the circular elastomeric element, an outer hub removably attached to the sleeve mount, and an inner hub captured between the sleeve mount and the outer hub. The inner hub can include a cannula port. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.
    Type: Grant
    Filed: March 14, 2014
    Date of Patent: November 12, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
  • Patent number: 10456166
    Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
    Type: Grant
    Filed: November 23, 2016
    Date of Patent: October 29, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
  • Publication number: 20190314096
    Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.
    Type: Application
    Filed: May 16, 2017
    Publication date: October 17, 2019
    Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
  • Publication number: 20190298469
    Abstract: A sterile surgical drape includes at least one assembly for managing and retaining sterile surgical drape on a part of a computer-assisted surgical system. For example, an assembly for managing and retaining sterile surgical drape is used to configure the surgical drape on a portion of the computer-assisted surgical system so that the sterility of sterile portions of the surgical drape is not compromised, and so that the physical integrity of the surgical drape is not compromised. Any one of a hinged cinch assembly, a hinged cinch and attachment element assembly, and an alignment and attachment element assembly, or any combination of the hinged cinch assembly, the hinged cinch and attachment element assembly, and the alignment and attachment element assembly can be attached to a surgical drape.
    Type: Application
    Filed: June 20, 2017
    Publication date: October 3, 2019
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Craig R. RAMSTAD, Jeffrey R. ROEDER, Jeffrey D. BROWN, Robert E. HOLOP, Anthony K. McGROGAN
  • Publication number: 20190231455
    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: April 8, 2019
    Publication date: August 1, 2019
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. COOPER, Anthony K. McGrogan, Robert E. HOLOP
  • Publication number: 20190223966
    Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.
    Type: Application
    Filed: June 21, 2017
    Publication date: July 25, 2019
    Inventors: Robert E. Holop, Anthony K. McGrogan, Jeffrey R. Roeder, Daniel H. Gomez, Arjang M. Hourtash, Thomas Brennan-Marquez, Probal Mitra
  • Publication number: 20190223969
    Abstract: A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens instead of possibly bowing out and contacting a part of the insertion assembly or some other part of the surgical system.
    Type: Application
    Filed: June 21, 2017
    Publication date: July 25, 2019
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Craig R. RAMSTAD, Anthony K. McGROGAN, Todd R. SOLOMON
  • Patent number: 10271911
    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 14, 2014
    Date of Patent: April 30, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Anthony K McGrogan, Robert E Holop
  • Publication number: 20180353204
    Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
    Type: Application
    Filed: July 31, 2018
    Publication date: December 13, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC
    Inventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E, Holop, Anthony K. McGrogan, Craig R. Ramstad, Thoeodore W, Rogers
  • Publication number: 20180214176
    Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
    Type: Application
    Filed: March 29, 2018
    Publication date: August 2, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC
    Inventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Thoeodore W. Rogers
  • Patent number: 10022193
    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 14, 2014
    Date of Patent: July 17, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Anthony K McGrogan, Robert E. Holop, Todd R. Solomon, Eugene F. Duval, Kent M. Anderson