Patents by Inventor Daniel H. Gomez

Daniel H. Gomez 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: 20240024054
    Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.
    Type: Application
    Filed: October 5, 2023
    Publication date: January 25, 2024
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Publication number: 20240000532
    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: June 1, 2023
    Publication date: January 4, 2024
    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: 20230390007
    Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.
    Type: Application
    Filed: August 15, 2023
    Publication date: December 7, 2023
    Inventors: Nicola DIOLAITI, Jeffrey D. BROWN, Daniel H. GOMEZ, Robert E. HOLOP, Anthony K. MCGROGAN, Probal MITRA, Craig R. RAMSTAD
  • Patent number: 11819301
    Abstract: A teleoperational medical system comprises a teleoperational assembly including an operator control system, a first teleoperational manipulator, a first medical instrument, and a processing unit including one or more processors. The first teleoperational manipulators is configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of the first medical instrument in a surgical environment. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one state indicator representing a state of a component of the first medical instrument.
    Type: Grant
    Filed: April 21, 2022
    Date of Patent: November 21, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Tabish Mustufa, Heath Feather, Daniel H. Gomez, Brian D. Hoffman, Paul W. Mohr, Huan L. Phan
  • Patent number: 11766301
    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: Grant
    Filed: April 21, 2021
    Date of Patent: September 26, 2023
    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: 20230240767
    Abstract: Techniques of selective joint floating in a computer-assisted system include a computer-assisted device that includes a kinematic chain including a plurality of links coupled by a plurality of joints and a control unit coupled to the kinematic chain. The kinematic chain is configured to support an end effector. The control unit is configured to determine location information for a first operator interaction with the kinematic chain, determine one or more joints to place into a floating state based on one or more parameters, and place the one or more joints into the floating state in response to determining the one or more joints. The one or more parameters being of the first operator interaction or of computer-assisted device. The one or more parameters including the location information. The plurality of joints including the one or more joints.
    Type: Application
    Filed: June 15, 2021
    Publication date: August 3, 2023
    Inventor: Daniel H. GOMEZ
  • Patent number: 11684439
    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: May 14, 2020
    Date of Patent: June 27, 2023
    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: 20230149103
    Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
    Type: Application
    Filed: January 6, 2023
    Publication date: May 18, 2023
    Inventors: Ryan Charles Abbott, Daniel H. Gomez, Amy Kerdok, Ian E. McDowall, John Ryan Steger
  • Publication number: 20230117645
    Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.
    Type: Application
    Filed: December 16, 2022
    Publication date: April 20, 2023
    Inventors: Robert E. HOLOP, Anthony K. MCGROGAN, Jeffrey R. ROEDER, Daniel H. GOMEZ, Arjang M. HOURTASH, Thomas BRENNAN-MARQUEZ, Probal MITRA
  • Publication number: 20230112200
    Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table.
    Type: Application
    Filed: December 14, 2022
    Publication date: April 13, 2023
    Inventors: John Ryan Steger, Ryan Charles Abbott, Daniel H. Gomez
  • Publication number: 20230116795
    Abstract: A robotic system includes first and second manipulator assemblies in an operating environment and having separately movable bases. A processing unit is configured to receive first sensor data from a first plurality of sensors disposed on the first manipulator assembly, wherein the first sensor data provide spatial information about the operating environment external to the first manipulator assembly. A first spatial relationship of the second manipulator assembly relative to the first manipulator assembly is determined using data including the first sensor data. A first alignment relationship between the first and second manipulator assemblies is established based on the first spatial relationship. Based on the first alignment relationship, motion of the second manipulator assembly is commanded in response to a command from a first input device operable by an operator.
    Type: Application
    Filed: March 24, 2021
    Publication date: April 13, 2023
    Inventors: Daniel H. Gomez, Arsen Babayan, Raul Herrera Barcenas, Marc E. Tognaccini
  • Publication number: 20230082740
    Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.
    Type: Application
    Filed: September 21, 2022
    Publication date: March 16, 2023
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Patent number: 11596488
    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: Grant
    Filed: April 17, 2020
    Date of Patent: March 7, 2023
    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
  • Patent number: 11589938
    Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
    Type: Grant
    Filed: April 30, 2021
    Date of Patent: February 28, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Ryan Charles Abbott, Daniel H. Gomez, Amy Kerdok, Ian E. McDowall, John Ryan Steger
  • Patent number: 11564760
    Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table.
    Type: Grant
    Filed: October 17, 2017
    Date of Patent: January 31, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: John Ryan Steger, Ryan Charles Abbott, Daniel H. Gomez
  • Patent number: 11559363
    Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: January 24, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. Holop, Anthony K. McGrogan, Jeffrey R. Roeder, Daniel H. Gomez, Arjang M. Hourtash, Thomas Brennan-Marquez, Probal Mitra
  • Publication number: 20220354600
    Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.
    Type: Application
    Filed: June 8, 2022
    Publication date: November 10, 2022
    Inventors: Marc E. Tognaccini, Daniel H. Gomez, Nicola Diolaiti, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
  • Patent number: 11490977
    Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.
    Type: Grant
    Filed: January 14, 2020
    Date of Patent: November 8, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • 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
  • Publication number: 20220241039
    Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.
    Type: Application
    Filed: April 21, 2022
    Publication date: August 4, 2022
    Inventors: Tabish Mustufa, Heath Feather, Daniel H. Gomez, Brian D. Hoffman, Paul W. Mohr, Huan L. Phan