Patents by Inventor Craig R. Ramstad

Craig R. Ramstad 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).

  • Publication number: 20220296322
    Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.
    Type: Application
    Filed: June 10, 2022
    Publication date: September 22, 2022
    Applicant: 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
  • Patent number: 11376086
    Abstract: 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: Grant
    Filed: September 9, 2019
    Date of Patent: July 5, 2022
    Assignee: 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
  • Publication number: 20220202510
    Abstract: 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: Application
    Filed: January 5, 2022
    Publication date: June 30, 2022
    Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
  • Publication number: 20220183780
    Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.
    Type: Application
    Filed: March 1, 2022
    Publication date: June 16, 2022
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: 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
  • Patent number: 11278364
    Abstract: 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: Grant
    Filed: September 11, 2019
    Date of Patent: March 22, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: 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
  • Patent number: 11234776
    Abstract: 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: Grant
    Filed: October 23, 2019
    Date of Patent: February 1, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
  • Publication number: 20210236220
    Abstract: 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: Application
    Filed: April 21, 2021
    Publication date: August 5, 2021
    Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
  • Publication number: 20210220066
    Abstract: 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: Application
    Filed: January 27, 2021
    Publication date: July 22, 2021
    Applicant: 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
  • Patent number: 11020191
    Abstract: 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: Grant
    Filed: May 16, 2017
    Date of Patent: June 1, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
  • Publication number: 20210085411
    Abstract: 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: Application
    Filed: December 4, 2020
    Publication date: March 25, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD
  • Patent number: 10918449
    Abstract: 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: Grant
    Filed: March 29, 2018
    Date of Patent: February 16, 2021
    Assignee: 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
  • Patent number: 10869730
    Abstract: 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: Grant
    Filed: July 1, 2015
    Date of Patent: December 22, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad
  • Patent number: 10856946
    Abstract: 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: Grant
    Filed: July 31, 2018
    Date of Patent: December 8, 2020
    Assignee: 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, Thoeodore W. Rogers
  • Publication number: 20200268465
    Abstract: 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: Application
    Filed: May 14, 2020
    Publication date: August 27, 2020
    Applicant: 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
  • Publication number: 20200246096
    Abstract: 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: Application
    Filed: April 17, 2020
    Publication date: August 6, 2020
    Applicant: 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
  • Patent number: 10624672
    Abstract: 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: Grant
    Filed: September 28, 2017
    Date of Patent: April 21, 2020
    Assignee: 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
  • Publication number: 20200106937
    Abstract: 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: Application
    Filed: September 11, 2019
    Publication date: April 2, 2020
    Inventors: 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
  • Publication number: 20200054404
    Abstract: 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: Application
    Filed: October 23, 2019
    Publication date: February 20, 2020
    Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
  • Patent number: 10537358
    Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.
    Type: Grant
    Filed: April 11, 2014
    Date of Patent: January 21, 2020
    Assignee: 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
  • Publication number: 20200000490
    Abstract: 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: Application
    Filed: September 9, 2019
    Publication date: January 2, 2020
    Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad