Patents by Inventor Bruce Schena
Bruce 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: 8529582Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.Type: GrantFiled: May 20, 2011Date of Patent: September 10, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Joseph P. Orban, III, Bruce Schena, Alan Loh, S. Christopher Anderson
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Publication number: 20130178870Abstract: A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.Type: ApplicationFiled: March 4, 2013Publication date: July 11, 2013Applicant: Intuitive Surgical Operations, Inc.Inventor: Bruce Schena
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Patent number: 8419717Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.Type: GrantFiled: June 13, 2007Date of Patent: April 16, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Nicola Diolaiti, David Q. Larkin, Thomas G. Cooper, Bruce Schena
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Patent number: 8400094Abstract: A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upward to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upward and then horizontally over the patient table. A robotic surgical manipulator supported by the horizontal portion of the robot support arm will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.Type: GrantFiled: December 21, 2007Date of Patent: March 19, 2013Assignee: Intuitive Surgical Operations, Inc.Inventor: Bruce Schena
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Extendable suction surface for bracing medial devices during robotically assisted medical procedures
Patent number: 8377045Abstract: 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: GrantFiled: June 13, 2007Date of Patent: February 19, 2013Assignee: Intuitive Surgical Operations, Inc.Inventor: Bruce Schena -
Publication number: 20120247489Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.Type: ApplicationFiled: June 15, 2012Publication date: October 4, 2012Applicant: Intuitive Surgical, Inc.Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce Schena, Michael Prindiville, Thomas G. Cooper, William Burbank
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Publication number: 20120217457Abstract: A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.Type: ApplicationFiled: March 16, 2012Publication date: August 30, 2012Applicant: Intuitive Surgical Operations, Inc.Inventors: Bruce Schena, Thomas Cooper
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Publication number: 20120209291Abstract: A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The present invention further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility.Type: ApplicationFiled: April 24, 2012Publication date: August 16, 2012Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: S. Christopher Anderson, Thomas G. Cooper, Bruce Schena, William Burbank, Margaret M. Nixon, Alan Loh
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Publication number: 20120209292Abstract: A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.Type: ApplicationFiled: April 24, 2012Publication date: August 16, 2012Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Bruce Schena
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Patent number: 8182470Abstract: A telescopic insertion axis, a robotic surgical system including the telescopic insertion axis, and a method of instrument insertion are provided. In one embodiment, a telescopic insertion axis includes a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an instrument interface.Type: GrantFiled: December 20, 2006Date of Patent: May 22, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Bruce Schena
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Patent number: 8182469Abstract: A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.Type: GrantFiled: September 30, 2005Date of Patent: May 22, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: S. Christopher Anderson, Thomas G Cooper, Bruce Schena, William Burbank, Margaret M Nixon, Alan Loh
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Patent number: 8151661Abstract: A compact capstan includes a drum, a coupled hub, a passage extending through the drum and hub, and a shaft extending through the drum and hub. The shaft engages the passage such that the shaft can transmit a torsional force to the drum and the hub which are free to move along the length of the shaft. The drum includes a spiral groove to receive a cable loop wound around the drum. The hub has a thread with substantially the same pitch as the spiral groove to engage a threaded support such that the hub and the drum move laterally along their length relative to the threaded support as the hub and the drum are rotated. The shaft has a length that is substantially greater than the passage such that the shaft extends beyond both ends of the passage.Type: GrantFiled: June 30, 2006Date of Patent: April 10, 2012Assignee: Intuituve Surgical Operations, Inc.Inventors: Bruce Schena, Thomas G Cooper
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Publication number: 20110313428Abstract: 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 the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.Type: ApplicationFiled: August 24, 2011Publication date: December 22, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Catherine J. Mohr, David Q. Larkin, Bruce Schena
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Patent number: 8029516Abstract: 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 the surgical site so as to be constrained in one or more degrees of freedom of movement may be performed using an anchor secured to an anatomic structure at the surgical site and physically coupled to the bundled unit, or using a tool extending out of a distal end of the bundled unit that extends out to an anatomic structure at the surgical site.Type: GrantFiled: June 13, 2007Date of Patent: October 4, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Catherine J. Mohr, David Q. Larkin, Bruce Schena
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Publication number: 20110218551Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.Type: ApplicationFiled: May 20, 2011Publication date: September 8, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Joseph P. Orban, III, Bruce Schena, Alan Loh, S. Christopher Anderson
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Patent number: 7963913Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.Type: GrantFiled: December 20, 2006Date of Patent: June 21, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Joseph P. Orban, III, Bruce Schena, Alan Loh, S. Christopher Anderson
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Publication number: 20100174293Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.Type: ApplicationFiled: December 31, 2009Publication date: July 8, 2010Applicant: Intuitive Surgical, Inc.Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce Schena, Michael Prindiville, Thomas G. Cooper, William Burbank
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Publication number: 20100163057Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.Type: ApplicationFiled: March 4, 2010Publication date: July 1, 2010Applicant: Intuitive Surgical, Inc.Inventors: S. Christopher Anderson, Joseph P. Orban, III, Bruce Schena, Thomas G. Cooper, Roman Devengenzo
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Patent number: 7699855Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.Type: GrantFiled: March 31, 2006Date of Patent: April 20, 2010Assignee: Intuitive Surgical Operations, Inc.Inventors: S. Christopher Anderson, Joseph Orban, III, Bruce Schena, Thomas G. Cooper, Roman Devengenzo
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Patent number: 7666191Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.Type: GrantFiled: December 20, 2005Date of Patent: February 23, 2010Assignee: Intuitive Surgical, Inc.Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce Schena, Michael Prindiville, Thomas G Cooper, William Burbank