Patents by Inventor Ashwinram Suresh
Ashwinram Suresh 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: 20240130812Abstract: Systems and methods are provided for control of a surgical system. Accordingly, haptic feedback is provided to an input device of the surgical system based on a force applied to an instrument of the surgical system. The instrument includes a force sensor unit that has a beam, a first strain sensor coupled to the beam, and a second strain sensor. A first signal is received from the first strain sensor and is associated with a deflection of the beam in response to an applied force. A second signal is received from the second strain sensor and is associated with contact between the beam and a hard stop structure. The magnitude of the applied force is determined based at least on the first signal and the second signal.Type: ApplicationFiled: October 9, 2023Publication date: April 25, 2024Applicant: Intuitive Surgical Operations, Inc.Inventor: Ashwinram SURESH
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Patent number: 11965789Abstract: 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: GrantFiled: August 10, 2022Date of Patent: April 23, 2024Assignee: Intuitive Surgical Operations, Inc.Inventor: Ashwinram Suresh
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Publication number: 20240111357Abstract: A method is provided to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising: in a first control state, imparting a maintaining force to the hand-actuated selector; in a second control state, imparting a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position; imparting a click event signal to cause an occurrence of the click event at a display system, in a third control state, imparting a haptic force to the hand-actuated selector that decreases in magnitude to a reduced magnitude.Type: ApplicationFiled: November 22, 2021Publication date: April 4, 2024Inventors: Ehsan Noohi Bezanjani, Keith Watza, Ashwinram Suresh, Brandon D. Itkowitz, Sean Duffy, Sarthak Ghosh
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Publication number: 20230363849Abstract: A medical device includes a mechanical structure and a force sensor unit. The force sensor unit comprises a mounting bracket, a first rod, a second rod, a first magnet, a second magnet, a first coil coupled to the mounting bracket, and a second coil coupled to the mounting bracket. The first rod and the second rod each have a center axis defined between a proximal and distal portion of the respective first and second rods. The center axis of the second rod is noncoaxial with the center axis of the first rod. The first magnet is coupled to the first rod and translates within the first coil along the center axis of the first rod. Similarly, the second magnet is coupled to the second rod and translates within the second coil along the center axis of the second rod.Type: ApplicationFiled: September 10, 2021Publication date: November 16, 2023Applicant: Intuitive Surgical Operations, Inc.Inventors: Lizmarie COMENENCIA ORTIZ, David I. MOREIRA RIDSDALE, Alan W. PETERSEN, Harsukhdeep S. RATIA, Sharathchandra SOMAYAJI, Ashwinram SURESH, Zhou YE
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Publication number: 20230320799Abstract: 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: ApplicationFiled: June 9, 2023Publication date: October 12, 2023Inventors: Ashwinram Suresh, Joey Chau
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Patent number: 11723734Abstract: 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: GrantFiled: August 31, 2021Date of Patent: August 15, 2023Assignee: Intuitive Surgical Operations, Inc.Inventors: Ashwinram Suresh, Joey Chau
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Publication number: 20230225817Abstract: 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: ApplicationFiled: May 17, 2021Publication date: July 20, 2023Applicant: Intuitive Surgical Operations, Inc.Inventors: Zhou YE, Lawrence KERVER, Harsukhdeep RATIA, Ashwinram SURESH
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Publication number: 20220404218Abstract: A force sensor comprising a beam having a longitudinal center axis and a neutral axis that extends along a beam surface parallel to the center axis. A first half-bridge includes tension resistors. A second half-bridge includes tension resistors. A third half-bridge includes compression resistors. A fourth half-bridge includes compression resistors. The half-bridges are arranged on the beam surface such that redundant measurements of orthogonal components of a force imparted to the beam can be made using four different combinations of three of the half-bridges. The redundant measurements can be used to identify a malfunction of one or more of the resistors.Type: ApplicationFiled: November 15, 2020Publication date: December 22, 2022Applicant: Intuitive Surgical Operations, Inc.Inventor: Ashwinram SURESH
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Publication number: 20220390300Abstract: 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: ApplicationFiled: August 10, 2022Publication date: December 8, 2022Applicant: Intuitive Surgical Operations, Inc.Inventor: Ashwinram SURESH
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Publication number: 20220382364Abstract: Implementations relate to hand presence sensing at a control input device. In some implementations, a control input device includes a base member, a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom, one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom, and a presence sensor coupled to the base member. The presence sensor has a sensing field, and at least a portion of the sensing field is located proximate to the handle.Type: ApplicationFiled: October 7, 2020Publication date: December 1, 2022Applicant: Intuitive Surgical Operations, Inc.Inventors: Lawton N. VERNER, Jason W. HEMPHILL, Brian LUPTAK, Ashwinram SURESH, Clifford N. BARGAR, Hsien-Hsin LIAO
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Publication number: 20220341796Abstract: A circuit is provided that includes a strain gauge resistor having a center axis and multiple conductor layer segments and a trim region extending along the center axis; wherein a first portion of the strain gauge resistor is located on one side of the center axis and a second portion of the strain gauge resistor is located on an opposite side of the center axis.Type: ApplicationFiled: September 16, 2020Publication date: October 27, 2022Applicant: Intuitive Surgical Operations, Inc.Inventor: Ashwinram SURESH
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Patent number: 11460360Abstract: 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: GrantFiled: November 14, 2018Date of Patent: October 4, 2022Assignee: Intuitive Surgical Operations, Inc.Inventor: Ashwinram Suresh
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Publication number: 20220250242Abstract: A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor and is configured to determine a kinematic configuration, the kinematic configuration being prior to an installation of a replacement tool on the manipulator arm. The kinematic configuration is of the manipulator arm and a previous tool attached to the manipulator arm and with an end effector of the previous tool located at an insertion location. The controller is further configured to determine a reference geometry of the previous tool in the kinematic configuration, determine an insertion trajectory for the replacement tool based on the reference geometry, and facilitate an insertion of the replacement tool toward a target location of the insertion trajectory by controlling the replacement tool to move in accordance with the insertion trajectory.Type: ApplicationFiled: March 10, 2020Publication date: August 11, 2022Applicant: Intuitive Surgical Operations, Inc.Inventors: Ashwinram Suresh, Lawton Verner, Gabriel Brisson
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Publication number: 20210401524Abstract: A surgical tool is provided that includes a hollow shaft and a cable extending within the shaft such that the cable is isolated from external forces imparted to the shaft; the shaft and a carriage are included as links of a 4-bar linkage that also includes first and second side links that are rotatably mounted to the carriage at respective first and second distal pivot axes and that are rotatably mounted to the shaft at respective first and second proximal pivot axes; the segment of the cable extends between a distal pulley rotatably at the carriage and a proximal pulley rotatably mounted at the shaft and a segment of the cable extends within the shaft; a distance between the first distal and first proximal pivot axes matches a distance between an axis of the distal pulley axis and an axis of the proximal pulley such that a rocking motion of the 4-bar linkage due to external force upon the shaft exerts no force upon the cable.Type: ApplicationFiled: November 15, 2019Publication date: December 30, 2021Applicant: Intuitive Surgical Operations, Inc.Inventors: Ashwinram SURESH, Grant M. KADOKURA
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Publication number: 20210401523Abstract: Control cables in a surgical instrument are kept parallel to the instrument's longitudinal axis to prevent transverse forces from the cables being sensed by a transverse force sensor in the instrument. A surgical instrument includes an elongated hollow shaft having a longitudinal center axis. Multiple cables extend within the shaft. A force sensor includes a beam disposed within the shaft and one or more strain gauges disposed on the beam. A proximal anchor is disposed within the shaft and in contact with a proximal end of the beam. A distal anchor is at the distal end of the shaft and in contact with a distal end of the beam. A cable guide is disposed within the shaft to constrain portions of the multiple cables disposed alongside the beam to movement parallel to the center axis, and so prevent force from the moving cables causing transverse force on the beam.Type: ApplicationFiled: November 15, 2019Publication date: December 30, 2021Applicant: Intuitive Surgical Operations, Inc.Inventors: Ashwinram SURESH, Grant M. KADOKURA, Andrew C. WATERBURY
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Publication number: 20210393351Abstract: 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: ApplicationFiled: August 31, 2021Publication date: December 23, 2021Inventors: Ashwinram Suresh, Joey Chau
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Publication number: 20210353373Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.Type: ApplicationFiled: May 17, 2021Publication date: November 18, 2021Applicant: Intuitive Surgical Operations, Inc.Inventors: Zhou YE, Harsukhdeep RATIA, Ashwinram SURESH, Craig TSUJI
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Patent number: 11135029Abstract: 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: GrantFiled: October 5, 2018Date of Patent: October 5, 2021Assignee: Intuitive Surgical Operations, Inc.Inventors: Ashwinram Suresh, Joey Chau
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Publication number: 20210030491Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.Type: ApplicationFiled: September 9, 2020Publication date: February 4, 2021Inventors: Ashwinram Suresh, Joey Chau
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Patent number: 10786315Abstract: A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.Type: GrantFiled: November 12, 2015Date of Patent: September 29, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Ashwinram Suresh, Joey Chau