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).

  • Patent number: 10984567
    Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
    Type: Grant
    Filed: March 12, 2019
    Date of Patent: April 20, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian David Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Patent number: 10959607
    Abstract: An apparatus comprises a flexible entry guide tube comprising one or more lumens, wherein at least one lumen is an instrument lumen; and a rigidizing cable to lock a shape of the guide tube within a body cavity with a distal end of the guide tube near a medical site. The rigidizing cable can steer the guide tube. The apparatus comprises a flexible tool insertable into the instrument lumen. The tool can perform a medical procedure near the distal end of the guide tube. The tool comprises an end effector, a steerable tip portion, and a steering cable for steering the tip portion. While the tip portion remains within the instrument lumen, articulation of the tip portion causes corresponding articulation of a distal portion of the guide tube. The tool can extend away from the distal end while the shape of the guide tube is locked by the rigidizing cable.
    Type: Grant
    Filed: July 26, 2017
    Date of Patent: March 30, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Theodore W. Rogers, David Q. Larkin
  • Patent number: 10898287
    Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
    Type: Grant
    Filed: February 4, 2020
    Date of Patent: January 26, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Jason Hemphill, David Q. Larkin, Paul Millman
  • Publication number: 20210015555
    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: October 5, 2020
    Publication date: January 21, 2021
    Inventors: Thomas G. Cooper, David Q. Larkin, Paul E. Lilagan
  • Publication number: 20210000546
    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, of 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: Application
    Filed: June 24, 2020
    Publication date: January 7, 2021
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Publication number: 20200368915
    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. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
    Type: Application
    Filed: July 17, 2020
    Publication date: November 26, 2020
    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: 10842571
    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: July 14, 2017
    Date of Patent: November 24, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Patent number: 10835320
    Abstract: A surgical system comprises an instrument and a teleoperated instrument operation system. The instrument comprises a drive member having an end effector coupled to the distal end and a ratchet assembly coupled to the proximal end. The ratchet assembly includes a pin, a gear, and a spring- loaded button. A lever is coupled to and configured to pivot relative to the ratchet assembly to engage the spring-loaded button to disengage the pin from the gear. The lever in a first position places the ratchet assembly in a gripping position in which the end effector grips a surgical accessory. The lever in a second position places the ratchet assembly in a release position in which the end effector releases the surgical accessory. The lever is movable while compressing the spring-loaded button. The teleoperated instrument operation system comprises a capture mechanism configured to move the lever between the first and second positions.
    Type: Grant
    Filed: November 8, 2017
    Date of Patent: November 17, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Thomas G. Cooper, David Q. Larkin, Paul E. Lilagan
  • Publication number: 20200331147
    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
    Type: Application
    Filed: July 7, 2020
    Publication date: October 22, 2020
    Inventors: David Q. Larkin, Thomas R. Nixon, David S. Mintz
  • Patent number: 10792107
    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: December 6, 2016
    Date of Patent: October 6, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Publication number: 20200289023
    Abstract: A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.
    Type: Application
    Filed: April 1, 2020
    Publication date: September 17, 2020
    Inventors: Vincent Duindam, Simon P. DiMaio, David Q. Larkin, Dorin Panescu, Giuseppe Maria Prisco
  • Patent number: 10772689
    Abstract: To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: September 15, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Daniel H. Gomez, Nicola Diolaiti, David Q. Larkin, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
  • Patent number: 10773388
    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: September 15, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, David S. Mintz, Thomas R. Nixon
  • Publication number: 20200282570
    Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
    Type: Application
    Filed: May 22, 2020
    Publication date: September 10, 2020
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. MCGROGAN, Thomas G. COOPER, David Q. LARKIN, Kent M. ANDERSON, Jeffrey D. BROWN, Paul E. LILAGAN, Michael IKEDA
  • Patent number: 10737394
    Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: August 11, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    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
  • Publication number: 20200246092
    Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
    Type: Application
    Filed: February 4, 2020
    Publication date: August 6, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
  • Patent number: 10730187
    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
    Type: Grant
    Filed: June 29, 2017
    Date of Patent: August 4, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Thomas R. Nixon, David S. Mintz
  • Patent number: 10710246
    Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
    Type: Grant
    Filed: August 12, 2015
    Date of Patent: July 14, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. McGrogan, Thomas G. Cooper, David Q. Larkin, Kent M. Anderson, Jeffrey D. Brown, Paul E. Lilagan, Michael Ikeda
  • Patent number: 10695136
    Abstract: Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: June 30, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: David Q. Larkin
  • Publication number: 20200170725
    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 is 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 further includes determining, based on information in the one or more images, an estimated frame transform relating the image frame and the tool frame, determining, based on the estimated frame transform, an output movement for the tool in response to an input at the control device, and causing movement of the tool according to the output movement.
    Type: Application
    Filed: January 31, 2020
    Publication date: June 4, 2020
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John R. Steger, David Q. Larkin