Patents by Inventor Bruce M. Schena

Bruce M. Schena 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).

  • Patent number: 10251717
    Abstract: A surgical system includes methods and systems for damping vibrations. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: April 9, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Roman L. Devengenzo, Bruce M. Schena, David W. Robinson
  • Publication number: 20190083185
    Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.
    Type: Application
    Filed: November 16, 2018
    Publication date: March 21, 2019
    Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
  • Patent number: 10194998
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: April 14, 2017
    Date of Patent: February 5, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 10194997
    Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: February 5, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Arjang M. Hourtash, Pushkar Hingwe, Bruce M. Schena, Roman L. Devengenzo
  • Patent number: 10149729
    Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
    Type: Grant
    Filed: August 15, 2017
    Date of Patent: December 11, 2018
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Niels Smaby, Gregory W. Dachs, II, Nicola Diolaiti, Pushkar Hingwe, Thomas R. Nixon, Bruce M. Schena, Nitish Swarup
  • Publication number: 20180344416
    Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.
    Type: Application
    Filed: August 13, 2018
    Publication date: December 6, 2018
    Inventors: Roman L. DEVENGENZO, Bruce M. SCHENA, David W. ROBINSON
  • Patent number: 10123844
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: April 14, 2017
    Date of Patent: November 13, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Publication number: 20180319023
    Abstract: A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.
    Type: Application
    Filed: July 19, 2018
    Publication date: November 8, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David ROBINSON, Matthew R. CAVALIER, Gregory W. DACHS, Michael HANUSCHIK, Jason JIANG, Paul W. MOHR, Bruce M. SCHENA, Mark W. ZIMMER
  • Patent number: 10117714
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: April 14, 2017
    Date of Patent: November 6, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 10071488
    Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: September 11, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Robinson, Matthew R. Cavalier, Gregory W. Dachs, Michael Hanuschik, Jason Jiang, Paul W. Mohr, Bruce M. Schena, Mark W. Zimmer
  • Patent number: 10058395
    Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. The damper can mitigate a vibration arising in one of the set-up linkages, and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback model and a feed-forward model.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: August 28, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Roman L. Devengenzo, Bruce M. Schena, David W. Robinson
  • Publication number: 20180214225
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Application
    Filed: March 21, 2018
    Publication date: August 2, 2018
    Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce M. Schena, Roman L. Devengenzo, Scott Luke
  • Publication number: 20180192859
    Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.
    Type: Application
    Filed: March 6, 2018
    Publication date: July 12, 2018
    Inventor: Bruce M. Schena
  • Publication number: 20180116743
    Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.
    Type: Application
    Filed: April 21, 2016
    Publication date: May 3, 2018
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: William A. BURBANK, Gregory W. DACHS, II, Bruce M. SCHENA
  • Patent number: 9907458
    Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.
    Type: Grant
    Filed: June 11, 2013
    Date of Patent: March 6, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Bruce M. Schena
  • Publication number: 20180042687
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Application
    Filed: October 23, 2017
    Publication date: February 15, 2018
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Publication number: 20180028268
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Application
    Filed: October 6, 2017
    Publication date: February 1, 2018
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 9850994
    Abstract: A compact cable tension tender device includes first and second pulleys rotatably coupled to a drive shaft. First and second plates are fixed to the drive shaft. Drive stops on the plates engage and rotate the pulleys when the drive shaft is rotated. A resilient coupler urges the first and second pulleys to rotate away from engagement with the drive stops. Cables are coupled to the pulleys and adjusted to be in tension such that the first and second pulleys both engage the drive stops at the same time. The engagement of both pulleys with the drive stops at the same time minimizes lost motion when reversing the rotation of the drive shaft.
    Type: Grant
    Filed: April 23, 2010
    Date of Patent: December 26, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Bruce M. Schena
  • Patent number: 9844411
    Abstract: Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction surface is ring-shaped with holes distributed about the ring so that controllably extendable and retractable tubes coupled at distal ends to the holes provide suction to the suction surface when coupled at proximal ends to a vacuum source.
    Type: Grant
    Filed: January 23, 2013
    Date of Patent: December 19, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Bruce M. Schena
  • Publication number: 20170340397
    Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
    Type: Application
    Filed: August 15, 2017
    Publication date: November 30, 2017
    Inventors: Niels SMABY, Gregory W. DACHS, II, Nicola DIOLAITI, Pushkar HINGWE, Thomas R. NIXON, Bruce M. SCHENA, Nitish SWARUP