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: 20220241034
    Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
    Type: Application
    Filed: March 18, 2022
    Publication date: August 4, 2022
    Inventors: David S. Mintz, Tracey Ann Morely, Theordore C. Walker, David Q. Larkin, Michael L. Hanuschik
  • Patent number: 11399908
    Abstract: In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: August 2, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr
  • Patent number: 11369445
    Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods include both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory on the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor is updated by shipping of new data. Once downloaded by the processor from a component, subsequent components take advantage of the updated processor without repeated downloading.
    Type: Grant
    Filed: June 12, 2019
    Date of Patent: June 28, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gregory K. Toth, Nitish Swarup, Thomas R. Nixon, David Q. Larkin, Steven J. Colton
  • Publication number: 20220175475
    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: Application
    Filed: February 22, 2022
    Publication date: June 9, 2022
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John R. Steger, David Q. Larkin
  • Patent number: 11337765
    Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
    Type: Grant
    Filed: March 1, 2019
    Date of Patent: May 24, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David S. Mintz, Tracey Ann Morley, Theodore C. Walker, David Q. Larkin, Michael L. Hanuschik
  • Publication number: 20220133414
    Abstract: A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.
    Type: Application
    Filed: January 14, 2022
    Publication date: May 5, 2022
    Inventors: David Q. Larkin, Vincent Duindam
  • Patent number: 11304764
    Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
    Type: Grant
    Filed: March 1, 2019
    Date of Patent: April 19, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David S. Mintz, Tracey Ann Morley, Theodore C. Walker, David Q. Larkin, Michael L. Hanuschik
  • Patent number: 11284952
    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: Grant
    Filed: January 31, 2020
    Date of Patent: March 29, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Tao Zhao, Giuseppe Maria Prisco, John R. Steger, David Q. Larkin
  • Publication number: 20220071721
    Abstract: A medical system comprises a control system and a display device coupled to the control system. The control system comprises a processor and a memory comprising machine readable instructions that, when executed by the processor, cause the control system to generate a primary image of an anatomic structure and manipulate a therapeutic instrument to deliver a therapy to the anatomic structure. The control system also determines an effect of the therapy on the anatomic structure and displays a representation of the effect of the therapy in an auxiliary image registered with the primary image of the anatomic structure.
    Type: Application
    Filed: November 18, 2021
    Publication date: March 10, 2022
    Inventors: Brian D. Hoffman, JR., Rajesh Kumar, David Q. Larkin, Nitish Swarup, Guanghua G. Zhang
  • Patent number: 11266466
    Abstract: A method of operating a shape sensing apparatus comprises receiving first shape data from a first shape sensor section including a first elongated optical fiber section extending between a first location coupled to a reference fixture and a second location coupled to a first target fixture. The method further comprises receiving second shape data from a second shape sensor section including a second elongated optical fiber section extending between a third location coupled to the reference fixture and a fourth location coupled to the first target fixture. The first and third locations are maintained in a first known kinematic relationship, and the second and fourth locations are maintained in a second known kinematic relationship. The method further comprises determining a position of an end portion of the first shape sensor section using the second shape data and using the first and second known kinematic relationships.
    Type: Grant
    Filed: July 25, 2014
    Date of Patent: March 8, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q Larkin, Vincent Duindam
  • Patent number: 11259870
    Abstract: In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: March 1, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Simon P. DiMaio, Christopher J. Hasser, Russell H. Taylor, David Q. Larkin, Peter Kazanzides, Anton Deguet, Balazs Peter Vagvolgyi, Joshua Leven
  • Publication number: 20220047341
    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: Application
    Filed: September 17, 2021
    Publication date: February 17, 2022
    Inventors: David Q. Larkin, David C. Shafer
  • Publication number: 20220039887
    Abstract: A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
    Type: Application
    Filed: August 27, 2021
    Publication date: February 10, 2022
    Inventors: David Q. Larkin, Vincent Duindam
  • Publication number: 20220015832
    Abstract: A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.
    Type: Application
    Filed: September 7, 2021
    Publication date: January 20, 2022
    Inventors: Simon P. DiMaio, Christopher J. Hasser, Russell H. Taylor, David Q. Larkin, Peter Kazanzides, Anton Deguet, Balazs Peter Vagvolgyi, Joshua Leven
  • Patent number: 11197731
    Abstract: A medical system may comprise a stereo display and an input device. The medical system may also comprise a processor configured to generate a three-dimensional image of an anatomical object and cause the three-dimensional image of the anatomical object and a two-dimensional window to be displayed. The processor may also be configured to cause a position and an orientation of the two-dimensional window relative to the three-dimensional image of the anatomical object to be changed on the stereo display by manipulation of the input device. The processor may also be configured to define a cut-plane to indicate a two-dimensional slice of the three-dimensional image of the anatomical object. The processor may also be configured to cause the two-dimensional slice of the three-dimensional image of the anatomical object to be displayed. An orientation of the displayed two-dimensional slice may be different than an orientation of the cut-plane with the three-dimensional image.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: December 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brian David Hoffman, Rajesh Kumar, David Q. Larkin, Nitish Swarup, Guanghua G. Zhang
  • Publication number: 20210346107
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Application
    Filed: July 19, 2021
    Publication date: November 11, 2021
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 11135023
    Abstract: An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber 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: Grant
    Filed: January 12, 2018
    Date of Patent: October 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, David C. Shafer
  • Publication number: 20210290326
    Abstract: In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.
    Type: Application
    Filed: May 27, 2021
    Publication date: September 23, 2021
    Inventors: Nicola DIOLAITI, David Q. LARKIN, Catherine J. MOHR
  • Patent number: 11116578
    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: September 14, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Maria Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Patent number: 11116590
    Abstract: A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: September 14, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Q. Larkin, Vincent Duindam