Patents by Inventor David Q. Larkin

David Q. Larkin 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: 20240115323
    Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.
    Type: Application
    Filed: December 18, 2023
    Publication date: April 11, 2024
    Inventors: Thomas G. Cooper, David Q. Larkin, Paul E. Lilagan
  • Patent number: 11890068
    Abstract: A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.
    Type: Grant
    Filed: August 27, 2021
    Date of Patent: February 6, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 11883109
    Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.
    Type: Grant
    Filed: October 5, 2020
    Date of Patent: January 30, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, David Q. Larkin, Paul E. Lilagan
  • Publication number: 20240016556
    Abstract: A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
    Type: Application
    Filed: September 27, 2023
    Publication date: January 18, 2024
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John Ryan Steger, David Q. Larkin
  • Patent number: 11865729
    Abstract: An apparatus comprises a memory device and a processor coupled to a display device, an image capture device, and the memory device. The processor is configured to: cause images captured by the image capture device to be displayed in a viewing area on the display device; determine a position of a tool in a reference frame of the image capture device; determine a position to display a non-depictive symbol for the tool in a boundary area circumscribing the viewing area to indicate a direction of the determined position of the tool relative to a field of view of the image capture device, by determining a trajectory of the tool; and cause the non-depictive symbol to be displayed at the determined position in the boundary area while images that were captured by the image capture device are restricted to being displayed in the viewing area.
    Type: Grant
    Filed: July 7, 2020
    Date of Patent: January 9, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas R. Nixon, David S. Mintz
  • Publication number: 20230414301
    Abstract: 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: Application
    Filed: June 7, 2023
    Publication date: December 28, 2023
    Inventors: David Q. Larkin, David C. Shafer
  • Publication number: 20230380665
    Abstract: A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.
    Type: Application
    Filed: April 18, 2023
    Publication date: November 30, 2023
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Publication number: 20230371788
    Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
    Type: Application
    Filed: April 27, 2023
    Publication date: November 23, 2023
    Inventors: David Q. LARKIN, Thomas G. COOPER, Catherine J. MOHR, David J. ROSA
  • Patent number: 11801102
    Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
    Type: Grant
    Filed: May 25, 2022
    Date of Patent: October 31, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gregory K. Toth, Nitish Swamp, Thomas R. Nixon, David Q. Larkin, Steven J. Colton
  • Patent number: 11801100
    Abstract: A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.
    Type: Grant
    Filed: February 22, 2022
    Date of Patent: October 31, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John R. Steger, David Q. Larkin
  • Publication number: 20230329815
    Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
    Type: Application
    Filed: June 26, 2023
    Publication date: October 19, 2023
    Inventors: Paul G. GRIFFITHS, Paul W. MOHR, Nitish SWARUP, Michael COSTA, David Q. LARKIN, Thomas G. COOPER
  • Publication number: 20230309793
    Abstract: A surgical system comprises a manipulator arm and a surgical instrument. The surgical instrument includes: a transmission mechanism including a plurality of interface members; and an elongate body extending from the transmission mechanism. The surgical system further includes an instrument mounting structure mounted to the manipulator arm. The transmission mechanism of the surgical instrument is removably couplable to the instrument mounting structure. The instrument mounting structure includes a plurality of actuator members and a passage defined within the instrument mounting structure. When the surgical instrument is coupled to the instrument mounting structure: the plurality of interface members mate with the plurality of actuator members; and the elongate body of the surgical instrument extends between at least some of the plurality of actuator members and through the passage.
    Type: Application
    Filed: April 18, 2023
    Publication date: October 5, 2023
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Patent number: 11723733
    Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
    Type: Grant
    Filed: May 14, 2021
    Date of Patent: August 15, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Nitish Swarup, Michael Costa, David Q. Larkin, Thomas G. Cooper
  • Publication number: 20230249354
    Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.
    Type: Application
    Filed: March 21, 2023
    Publication date: August 10, 2023
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian D. Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Patent number: 11712312
    Abstract: A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.
    Type: Grant
    Filed: September 17, 2021
    Date of Patent: August 1, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Publication number: 20230225803
    Abstract: A medical system may comprise a display system and a processor. The processor may be configured to generate a computer model of a plurality of instruments. The plurality of instruments may extend through and out of a distal end of an entry guide and may include an image capturing instrument. The processor may be further configured to cause an image of the computer model to be displayed on the display system and determine from a configuration of the plurality of instruments in the computer model if an event alert threshold associated with an event has been reached. If a determination is made that the event alert threshold has been reached, an event indicator may be displayed on the display system at a portion of the image of the computer model associated with the event.
    Type: Application
    Filed: March 20, 2023
    Publication date: July 20, 2023
    Inventors: Tabish Mustufa, Nicola Diolaiti, David Q. Larkin
  • Patent number: 11672606
    Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
    Type: Grant
    Filed: April 26, 2019
    Date of Patent: June 13, 2023
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Patent number: 11666204
    Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
    Type: Grant
    Filed: July 22, 2019
    Date of Patent: June 6, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Patent number: 11659978
    Abstract: A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.
    Type: Grant
    Filed: July 3, 2019
    Date of Patent: May 30, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Thomas G. Cooper, Catherine J. Mohr, David J. Rosa
  • Publication number: 20230148897
    Abstract: A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
    Type: Application
    Filed: January 13, 2023
    Publication date: May 18, 2023
    Inventors: Vincent Duindam, Simon P. DiMaio, David Q. Larkin, Dorin Panescu, Giuseppe Maria Prisco