Patents by Inventor Bruce Michael Schena
Bruce Michael 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).
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Patent number: 10575908Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.Type: GrantFiled: May 16, 2016Date of Patent: March 3, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Bruce Michael Schena, Roman L. Devengenzo, Scott Luke, David Martin, Thomas G. Cooper, Thomas Brown
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Patent number: 10555783Abstract: A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, a plurality of gear boxes, and a plurality of output drive couplings driven by the gear boxes. The robotic assembly includes a sensor assembly that includes an orientation sensor, a sensor target, and a sensor shaft drivingly coupling the sensor target to a corresponding one of the output drive couplings.Type: GrantFiled: September 13, 2016Date of Patent: February 11, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Bruce Michael Schena, Gregory W. Dachs, II, Todd Solomon
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Patent number: 10543051Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.Type: GrantFiled: March 17, 2015Date of Patent: January 28, 2020Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Bruce Michael Schena, Niels Smaby, Gregory W. Dachs, II
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Patent number: 10537400Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.Type: GrantFiled: August 13, 2018Date of Patent: January 21, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Amir Chaghajerdi, Niels Smaby, Tyler Morrissette
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Publication number: 20190380803Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.Type: ApplicationFiled: July 29, 2019Publication date: December 19, 2019Inventors: Gregory W. Dachs, II, Tyler J. Morrissette, Bruce Michael Schena
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Publication number: 20190365494Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405).Type: ApplicationFiled: August 19, 2019Publication date: December 5, 2019Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Donald Alden, Edward P. Donlon, Scott Harrington, Craig Tsuji, William A. Burbank
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Patent number: 10485621Abstract: An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators. An instrument sterile adapter (ISA) is coupled to a second opening in the pouch. The ISA includes a bottom plate and a top plate located on opposite sides of the pouch and joined together. A stiffener may be coupled to the pouch around the second opening to provide a relatively inelastic area that corresponds to a portion of the pouch that is retained between the bottom plate and the top plate. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.Type: GrantFiled: March 17, 2015Date of Patent: November 26, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Tyler J. Morrissette, Gregory W. Dachs, II, Bruce Michael Schena
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Publication number: 20190328468Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.Type: ApplicationFiled: July 11, 2019Publication date: October 31, 2019Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger
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Patent number: 10420622Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405).Type: GrantFiled: March 17, 2015Date of Patent: September 24, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Donald Alden, Edward P. Donlon, Scott Harrington, Craig Tsuji, William A. Burbank
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Publication number: 20190274767Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.Type: ApplicationFiled: March 17, 2015Publication date: September 12, 2019Inventors: Bruce Michael Schena, Niels Smaby, Gregory W. Dachs, II
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Patent number: 10390894Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.Type: GrantFiled: August 11, 2016Date of Patent: August 27, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger
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Patent number: 10363109Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.Type: GrantFiled: March 17, 2015Date of Patent: July 30, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Tyler J. Morrissette, Bruce Michael Schena
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Publication number: 20190069965Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.Type: ApplicationFiled: November 1, 2018Publication date: March 7, 2019Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
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Publication number: 20190000599Abstract: Described herein are systems and methods for providing personalized oral irrigation. One variation of a system for personalized oral irrigation comprises a fluid reservoir and a customized oral insert in fluid communication with the fluid reservoir. The oral insert comprises an arrangement of fluid openings positioned based on the individual oral or dental structures of a user's teeth to provide a customized fluid flow over the user's teeth. Also described herein are methods for generating an arrangement of fluid openings in a customized oral insert.Type: ApplicationFiled: June 29, 2018Publication date: January 3, 2019Inventors: Michael Lee HANUSCHIK, Bruce Michael SCHENA, Gerald Thomas RYLE, Angela Junyan CHU, Kristina Jenna COOK, Kyle Geoffrey MOONEY
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Publication number: 20180344419Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.Type: ApplicationFiled: August 13, 2018Publication date: December 6, 2018Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Amir Chaghajerdi, Niels Smaby, Tyler Morrissette
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Patent number: 10143525Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.Type: GrantFiled: March 2, 2016Date of Patent: December 4, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
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Patent number: 10045828Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.Type: GrantFiled: June 9, 2017Date of Patent: August 14, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Amir Chaghajerdi, Niels Smaby, Tyler Morrissette
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Patent number: 9949801Abstract: 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: GrantFiled: November 22, 2016Date of Patent: April 24, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Publication number: 20170367775Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.Type: ApplicationFiled: August 15, 2017Publication date: December 28, 2017Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Publication number: 20170273752Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.Type: ApplicationFiled: June 9, 2017Publication date: September 28, 2017Inventors: Gregory W. Dachs, II, Bruce Michael Schena, Amir Chaghajerdi, Niels Smaby, Tyler Morrissette