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).
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Publication number: 20210236220Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.Type: ApplicationFiled: April 21, 2021Publication date: August 5, 2021Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
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Publication number: 20210220066Abstract: 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: ApplicationFiled: January 27, 2021Publication date: July 22, 2021Applicant: 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, Theodore W. ROGERS
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Patent number: 11020191Abstract: 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: GrantFiled: May 16, 2017Date of Patent: June 1, 2021Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
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Patent number: 10993773Abstract: 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: GrantFiled: April 8, 2019Date of Patent: May 4, 2021Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Anthony K. McGrogan, Robert E. Holop
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Publication number: 20210085411Abstract: A sterile drape comprises a plurality of sleeves and a plurality of sterile adapters each at a distal end of a corresponding drape sleeve. Each sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, a membrane interface at a distal end of the housing that includes a plurality of actuator interfaces, and a pair of supports coupled to the housing to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output. Each sterile adapter also comprises a rotatable seal adapted to couple a proximal opening of each drape sleeve to a rotatable element at a distal end of the manipulator arm.Type: ApplicationFiled: December 4, 2020Publication date: March 25, 2021Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD
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Patent number: 10932868Abstract: 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: GrantFiled: August 13, 2014Date of Patent: March 2, 2021Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Anthony K. McGrogan, Thomas G. Cooper
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Patent number: 10918449Abstract: 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: GrantFiled: March 29, 2018Date of Patent: February 16, 2021Assignee: INTUITIVE SURGICAL OPERATIONS, INCInventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers
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Publication number: 20210022768Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.Type: ApplicationFiled: October 15, 2020Publication date: January 28, 2021Inventors: Thomas G. Cooper, Daniel H. Gomez, Paul E. Lilagan, Anthony K. McGrogan, Giuseppe Maria Prisco
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Patent number: 10869730Abstract: A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.Type: GrantFiled: July 1, 2015Date of Patent: December 22, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad
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Patent number: 10856946Abstract: 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: GrantFiled: July 31, 2018Date of Patent: December 8, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INCInventors: 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
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Patent number: 10842529Abstract: A surgical access port comprises a seal and an instrument guide, which comprises proximal and distal ends, a plurality of instrument guide channels, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The seal is positioned to seal between the instrument guide and the inner wall surface as the instrument guide rotates within the cannula. A first guide channel is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and place a portion of the first surgical instrument adjacent the inner wall surface.Type: GrantFiled: January 9, 2018Date of Patent: November 24, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Thomas G. Cooper, Anthony K. McGrogan, Paul E. Lilagan, Daniel H. Gomez, Giuseppe Maria Prisco
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Patent number: 10799303Abstract: 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: GrantFiled: August 13, 2014Date of Patent: October 13, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Anthony K. McGrogan, Robert E. Holop, Todd R. Solomon, Eugene F. Duval, Kent M. Anderson
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Publication number: 20200282570Abstract: 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 of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.Type: ApplicationFiled: May 22, 2020Publication date: September 10, 2020Applicant: 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
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Publication number: 20200268465Abstract: 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: ApplicationFiled: May 14, 2020Publication date: August 27, 2020Applicant: 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
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Publication number: 20200246096Abstract: 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: ApplicationFiled: April 17, 2020Publication date: August 6, 2020Applicant: 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
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Publication number: 20200222130Abstract: 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: ApplicationFiled: March 26, 2020Publication date: July 16, 2020Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. COOPER, Anthony K. MCGROGAN, Robert E. HOLOP, Todd R. SOLOMON, Eugene F. DUVAL, Kent M. ANDERSON
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Patent number: 10710246Abstract: 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: GrantFiled: August 12, 2015Date of Patent: July 14, 2020Assignee: 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
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Patent number: 10624672Abstract: 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: GrantFiled: September 28, 2017Date of Patent: April 21, 2020Assignee: 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
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Publication number: 20200106937Abstract: 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: ApplicationFiled: September 11, 2019Publication date: April 2, 2020Inventors: 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
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Publication number: 20200054404Abstract: 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: ApplicationFiled: October 23, 2019Publication date: February 20, 2020Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda