Patents by Inventor David C. Shafer
David C. Shafer 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: 9962069Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: GrantFiled: December 29, 2016Date of Patent: May 8, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9883914Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.Type: GrantFiled: July 30, 2015Date of Patent: February 6, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: David Q. Larkin, David C. Shafer
-
Publication number: 20170172394Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: ApplicationFiled: December 29, 2016Publication date: June 22, 2017Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9565997Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: GrantFiled: February 9, 2016Date of Patent: February 14, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9526583Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: April 13, 2015Date of Patent: December 27, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: David Q. Larkin, David C. Shafer
-
Publication number: 20160220107Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: ApplicationFiled: February 9, 2016Publication date: August 4, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9271633Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: GrantFiled: March 18, 2015Date of Patent: March 1, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9241769Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: January 26, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: David Q. Larkin, David C. Shafer
-
Publication number: 20150374453Abstract: An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.Type: ApplicationFiled: July 30, 2015Publication date: December 31, 2015Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9173547Abstract: A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.Type: GrantFiled: October 27, 2011Date of Patent: November 3, 2015Assignee: INTUITIVE SURGICAL OPERATIONS INC.Inventors: Eugene F. Duval, David C. Shafer, Bruce M. Schena
-
Patent number: 9125679Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: September 8, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Publication number: 20150245881Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: ApplicationFiled: April 13, 2015Publication date: September 3, 2015Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9101380Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: August 11, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9084624Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: July 21, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Publication number: 20150190037Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: ApplicationFiled: March 18, 2015Publication date: July 9, 2015Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 9066739Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: June 30, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9060793Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: June 23, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9039685Abstract: A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.Type: GrantFiled: March 16, 2011Date of Patent: May 26, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David Q. Larkin, David C. Shafer
-
Patent number: 9005113Abstract: In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.Type: GrantFiled: September 18, 2013Date of Patent: April 14, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: David D. Scott, David C. Shafer, Dominique Brichard, Peter M. Herzlinger
-
Patent number: 8986196Abstract: A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross section of the guide tube to be oblong. In some aspects, a joint for the image capture component is placed between exit ports for surgical instruments, which allows the guide tube cross section to be further reduced.Type: GrantFiled: June 13, 2007Date of Patent: March 24, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: David Q. Larkin, Thomas G. Cooper, David C. Shafer, David J. Rosa, Matthew R. Williams, Eugene F. Duval