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).

  • Software center and highly configurable robotic systems for surgery and other uses
    Patent number: 9687310
    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 n 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 method for their use are also provided.
    Type: Grant
    Filed: April 30, 2014
    Date of Patent: June 27, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce Michael Schena, David Q. Larkin, Gary S. Guthart
  • SURGICAL SYSTEM WITH VARIABLE ENTRY GUIDE CONFIGURATIONS
    Publication number: 20170156803
    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: Application
    Filed: August 12, 2015
    Publication date: June 8, 2017
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Anthony K. McGrogan, Thomas g. Cooper, DAvid Q. Larkin, Kent m. Anderson, Jeffrey d. Browm, Paul E. Lilagan, Michael Ikeda
  • Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
    Patent number: 9666101
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: May 30, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
  • Steerable flexible needle with embedded shape sensing
    Patent number: 9636040
    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: Grant
    Filed: January 28, 2013
    Date of Patent: May 2, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Vincent Duindam, Giuseppe Maria Prisco, David Q. Larkin, Simon P. DiMaio, Dorin Panescu
  • Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
    Patent number: 9636186
    Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: May 2, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Rajesh Kumar, Brian David Hoffman, Giuseppe Maria Prisco, David Q. Larkin, William C. Nowlin, Frederic H. Moll, Stephen J. Blumenkranz, Gunter D. Niemeyer, J. Kenneth Salisbury, Jr., Yulun Wang, Modjtaba Ghodoussi, Darrin R. Uecker, James W. Wright, Amante A. Mangaser, Ranjan Mauherjee
  • Methods and System for Performing 3-D Tool Tracking by Fusion of Sensor and/or Camera Derived Data During Minimally Invasive Robotic Surgery
    Publication number: 20170079725
    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: Application
    Filed: December 6, 2016
    Publication date: March 23, 2017
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Methods and System for Performing 3-D Tool Tracking by Fusion of Sensor and/or Camera Derived Data During Minimally Invasive Robotic Surgery
    Publication number: 20170079726
    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: Application
    Filed: December 6, 2016
    Publication date: March 23, 2017
    Inventors: Brian D. Hoffman, David Q. Larkin, Giuseppe Prisco, Guanghua G. Zhang, Rajesh Kumar
  • Arm With A Combined Force and Shape Sensor
    Publication number: 20170049520
    Abstract: An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.
    Type: Application
    Filed: November 7, 2016
    Publication date: February 23, 2017
    Inventors: David Q. Larkin, Vincent Duindam
  • Software center and highly configurable robotic systems for surgery and other uses
    Patent number: 9554859
    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 n 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 method for their use are also provided.
    Type: Grant
    Filed: August 18, 2014
    Date of Patent: January 31, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Teleoperated surgical retractor system
    Patent number: 9549663
    Abstract: A minimally invasive surgical system includes a guide tube and a telemanipulatively controlled surgical retractor instrument that extends through the guide tube. The portion of the retractor instrument that extends beyond the distal end of the guide tube includes several links that can be steered. In some aspects, joints between the links provide degrees of freedom in the same direction of movement. In some aspects, a grasping end effector is coupled to the end of the retractor instrument, and in further aspects the grasping end effector is coupled by a passively rotating wrist mechanism that rotates as the retractor instrument is moved while the end effector grasps tissue.
    Type: Grant
    Filed: June 13, 2007
    Date of Patent: January 24, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: David Q. Larkin
  • Steerable Flexible Needle With Embedded Shape Sensing
    Publication number: 20170014194
    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: September 26, 2016
    Publication date: January 19, 2017
    Inventors: Vincent Duindam, Simon P. DiMaio, David Q. Larkin, Dorin Panescu, Giuseppe Maria Prisco
  • Surgical Instrument With Robotic And Manual Actuation Features
    Publication number: 20170000573
    Abstract: A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.
    Type: Application
    Filed: September 19, 2016
    Publication date: January 5, 2017
    Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q Larkin
  • Robotic surgery system including position sensors using fiber Bragg gratings
    Patent number: 9526583
    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: Grant
    Filed: April 13, 2015
    Date of Patent: December 27, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, David C. Shafer
  • Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip
    Patent number: 9516996
    Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
    Type: Grant
    Filed: September 17, 2014
    Date of Patent: December 13, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, David Q. Larkin, Daniel H. Gomez, Tabish Mustufa, Paul W. Mohr, Paul E. Lilagan
  • Side looking minimally invasive surgery instrument assembly
    Patent number: 9510734
    Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.
    Type: Grant
    Filed: February 5, 2014
    Date of Patent: December 6, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, David J. Rosa, David Q. Larkin, Matthew R. Williams, Eugene F. Duval
  • ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS
    Publication number: 20160338786
    Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.
    Type: Application
    Filed: May 20, 2016
    Publication date: November 24, 2016
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
  • Arm with a combined shape and force sensor
    Patent number: 9500548
    Abstract: An apparatus comprises an arm including a flexible portion and an actuation mechanism to bend and straighten the flexible portion of the arm. The apparatus also includes a sensor apparatus that generates bend information about at least one bend in the flexible portion and an electronic data processor. The electronic data processor determines external force information and/or internal force information from the bend information and information representing at least one mechanical property of the flexible portion.
    Type: Grant
    Filed: December 4, 2014
    Date of Patent: November 22, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Vincent Duindam
  • Surgical instrument with robotic and manual actuation features
    Patent number: 9446177
    Abstract: In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
    Type: Grant
    Filed: July 13, 2012
    Date of Patent: September 20, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q. Larkin
  • TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY
    Publication number: 20160242859
    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: Application
    Filed: May 5, 2016
    Publication date: August 25, 2016
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Gregory K. Toth, Nitish Swarup, Thomas R. Nixon, David Q. Larkin, Steven J. Colton
  • MEDICAL ROBOTIC SYSTEM WITH COUPLED CONTROL MODES
    Publication number: 20160242860
    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: Application
    Filed: April 8, 2016
    Publication date: August 25, 2016
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr