Patents by Inventor Gunter D. Niemeyer
Gunter D. Niemeyer 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).
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Patent number: 9814537Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: GrantFiled: January 5, 2017Date of Patent: November 14, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
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Publication number: 20170258537Abstract: 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: ApplicationFiled: May 29, 2017Publication date: September 14, 2017Inventors: Rajesh Kumar, Brian D. 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 Mukherjee
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Publication number: 20170215978Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.Type: ApplicationFiled: March 24, 2017Publication date: August 3, 2017Inventors: Daniel T. Wallace, Frederic H. Moll, Robert G. Younge, Kenneth M. Martin, Gregory J. Stahler, David F. Moore, Daniel T. Adams, Michael R. Zinn, Gunter D. Niemeyer
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Patent number: 9666101Abstract: 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: GrantFiled: January 26, 2016Date of Patent: May 30, 2017Assignee: 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
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Patent number: 9636186Abstract: 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: GrantFiled: January 26, 2016Date of Patent: May 2, 2017Assignee: 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
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Publication number: 20170112368Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.Type: ApplicationFiled: January 3, 2017Publication date: April 27, 2017Inventors: John D. Stern, Robert G. Younge, David S. Gere, Gunter D. Niemeyer
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Publication number: 20170112582Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: ApplicationFiled: January 5, 2017Publication date: April 27, 2017Applicant: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
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Patent number: 9629682Abstract: A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.Type: GrantFiled: December 22, 2014Date of Patent: April 25, 2017Assignee: Hansen Medical, Inc.Inventors: Daniel T. Wallace, Frederic H. Moll, Robert G. Younge, Kenneth M. Martin, Gregory J. Stahler, David F. Moore, Daniel T. Adams, Michael R. Zinn, Gunter D. Niemeyer
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Publication number: 20170086929Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.Type: ApplicationFiled: October 3, 2016Publication date: March 30, 2017Inventors: Frederic H. Moll, Daniel T. Wallace, Gregory J. Stahler, David F. Moore, Daniel T. Adams, Kenneth M. Martin, Robert G. Younge, Michael R. Zinn, Gunter D. Niemeyer, David Lundmark
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Patent number: 9579164Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: GrantFiled: January 14, 2016Date of Patent: February 28, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
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Wheel assembly with multi-sphere omniwheels and omnidirectional devices including the wheel assembly
Patent number: 9573416Abstract: An omniwheel is presented that may be included with additional omniwheels in a wheel assembly, which can be used in nearly any omnidirectional device such as a robot, a park ride or other vehicle, and the like. The omniwheel includes a wheel support or frame, and a first roller pivotally supported on the wheel support. Further, the omniwheel includes a second roller pivotally supported on the wheel support. The first and second rollers are each generally spherical in shape and have equal outer diameters. The first and second rollers each has a pair of recessed contact surfaces at opposite poles. Each of the first and second rollers is supported in the wheel support for freewheeling about a rotation axis passing through the opposite poles, and the first and second rollers are oriented in the wheel support to have their rotation axes offset relative to each other by an offset angle.Type: GrantFiled: October 23, 2015Date of Patent: February 21, 2017Assignee: Disney Enterprises, Inc.Inventors: Gunter D. Niemeyer, Lanny S. Smoot -
Publication number: 20170027655Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.Type: ApplicationFiled: October 14, 2016Publication date: February 2, 2017Inventor: Gunter D. Niemeyer
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Patent number: 9532841Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.Type: GrantFiled: March 26, 2014Date of Patent: January 3, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: John D. Stern, Robert G. Younge, David S. Gere, Gunter D. Niemeyer
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Patent number: 9474581Abstract: Devices, systems, and methods for compensate for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. Dynamic friction compensation may comprise applying a continuous load in the direction of movement of a joint, and static friction compensation may comprise applying alternating loads in positive and negative joint actuation directions whenever the joint velocity reading falls within a low velocity range.Type: GrantFiled: August 7, 2014Date of Patent: October 25, 2016Assignee: Intuitive Surgical Operations, Inc.Inventor: Gunter D. Niemeyer
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Patent number: 9457168Abstract: The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.Type: GrantFiled: June 19, 2014Date of Patent: October 4, 2016Assignee: HANSEN MEDICAL, INC.Inventors: Frederic H. Moll, Daniel T. Wallace, Gregory J. Stahler, David F. Moore, Daniel T. Adams, Kenneth M. Martin, Robert G. Younge, Michael R. Zinn, Gunter D. Niemeyer, David Lundmark
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Publication number: 20160166345Abstract: 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: ApplicationFiled: January 26, 2016Publication date: June 16, 2016Inventors: 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
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Publication number: 20160157949Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: ApplicationFiled: January 14, 2016Publication date: June 9, 2016Applicant: Intuitive Surgical Operations, Inc.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
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Publication number: 20160140875Abstract: 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: ApplicationFiled: January 26, 2016Publication date: May 19, 2016Inventors: 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
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Patent number: 9271798Abstract: 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: GrantFiled: August 13, 2013Date of Patent: March 1, 2016Assignee: 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
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Patent number: 9265584Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: GrantFiled: November 6, 2014Date of Patent: February 23, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Günter D. Niemeyer, David S. Mintz