Patents by Inventor J. Kenneth Salisbury, Jr.

J. Kenneth Salisbury, Jr. 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: 8666544
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Grant
    Filed: July 10, 2013
    Date of Patent: March 4, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
  • Publication number: 20140051922
    Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.
    Type: Application
    Filed: August 21, 2013
    Publication date: February 20, 2014
    Applicants: Intuitive Surgical, Inc., Intuitive Surgical Operations, Inc.
    Inventors: GARY S. GUTHART, David S. Mintz, Gunter D. Niemeyer, J. Kenneth Salisbury, JR., Robert G. Younge
  • Patent number: 8632064
    Abstract: A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint.
    Type: Grant
    Filed: July 15, 2009
    Date of Patent: January 21, 2014
    Assignee: The Board of Trustees of The Leland Stanford Junior University
    Inventors: J. Kenneth Salisbury, Jr., Joan Savall
  • Publication number: 20130331859
    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: Application
    Filed: August 13, 2013
    Publication date: December 12, 2013
    Applicant: 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
  • Publication number: 20130304256
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Application
    Filed: July 10, 2013
    Publication date: November 14, 2013
    Inventors: Frederic H. MOLL, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, JR., Michael J. Tierney
  • Patent number: 8504201
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Grant
    Filed: November 18, 2011
    Date of Patent: August 6, 2013
    Assignee: Intuitive Sugrical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
  • Publication number: 20130184680
    Abstract: A vascular access device is provided with a needle assembly, a catheter assembly configured to slidably receive the needle assembly, and a light emitting assembly configured to couple to the needle assembly. The light emitting assembly and the needle assembly cooperate to shine a beam of light down the bore of the needle to assist with aligning the needle with a penetration site on target tissue. Systems and methods associated with these devices are also disclosed.
    Type: Application
    Filed: December 21, 2012
    Publication date: July 18, 2013
    Inventors: Reuben Daniel Brewer, J. Kenneth Salisbury, JR.
  • Patent number: 8489235
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Grant
    Filed: December 3, 2010
    Date of Patent: July 16, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
  • Publication number: 20130039732
    Abstract: According to one exemplary embodiment, a manipulator device includes a base, first and second linear slides, a drive link, a drive member, a driven member and an end effector. The elements of the manipulator device cooperate to constrain the end effector to rotate about a remote center of motion that is displaced from a proximal center of motion as the drive link moves a carriage of the second linear slide along an arcuate path.
    Type: Application
    Filed: August 10, 2012
    Publication date: February 14, 2013
    Inventors: Reuben D. Brewer, J. Kenneth Salisbury, JR.
  • Patent number: 8316861
    Abstract: A magnetic force control system for guiding a medical instrument within a body includes: a controlled magnet coupled to the medical instrument; a controller magnet that exerts a magnetic force on the controlled magnet; a magnetically permeable shield, placed between the controlled magnet and the controller magnet, that selectively modulates the magnetic force by rerouting magnetic field lines; and a control system. A method for guiding a medical instrument within a body with magnetic force control includes: providing a controlled magnet coupled to the medical instrument, inserting the controlled magnet and medical instrument into the body, providing a controller magnet outside the body, placing a magnetically permeable shield between the controlled magnet and the controller magnet, applying magnetic force, and selectively modulating the magnetic force with the shield to vary at least one of amplitude and orientation of the magnetic force, thereby guiding the controlled magnet within the body.
    Type: Grant
    Filed: October 21, 2009
    Date of Patent: November 27, 2012
    Assignee: The Board of Trustees of the Leland Stanford Junior University
    Inventors: Reuben Brewer, J. Kenneth Salisbury, Jr., Kevin E. Loewke, David B Camarillo
  • Publication number: 20120143212
    Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in an y direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
    Type: Application
    Filed: February 2, 2012
    Publication date: June 7, 2012
    Applicant: Massachusetts Institute of Technology
    Inventors: Akhil Jiten MADHANI, J. Kenneth SALISBURY, JR., Gunter D. NIEMEYER
  • Publication number: 20120130399
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Application
    Filed: November 18, 2011
    Publication date: May 24, 2012
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, JR., Michael J. Tierney
  • Patent number: 8123740
    Abstract: A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated by at least one micro joint and at least one macro joint. The apparatus can be part of a master and slave combination, providing force feedback without any explicit force sensors. The slave is controlled with an Inverse Jacobian controller, and the mater with a Jacobian Transpose controller. A slave having more degrees of freedom (DOFs) than the master can be controlled. A removable effector unit actuates its DOFs with cables. Beating heart surgery can be accomplished by commanding the slave to move with a beating heart and cancelling out any such motion in the motions perceived by the master.
    Type: Grant
    Filed: July 15, 2004
    Date of Patent: February 28, 2012
    Assignee: Massachusetts Institute of Technology
    Inventors: Akhil J. Madhani, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
  • Publication number: 20110137322
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Application
    Filed: December 3, 2010
    Publication date: June 9, 2011
    Applicant: Intuitive Surgical Operations
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, JR., Michael J. Tierney
  • Publication number: 20110102434
    Abstract: A method for generating a haptic interactive representation including the steps of defining a haptic interaction space and building a hierarchical construct, for use within the haptic interaction space, using a plurality of underlying constructs. In one embodiment the method includes determining the forces to be applied to a user by generating a haptic interactive, sensing a position of a user in real space, determining a haptic interface location in the haptic interaction space in response to the position of the user in real space and determining whether the virtual object collides with the haptic interface location. The invention also relates to a method for interacting with a haptic interactive representation.
    Type: Application
    Filed: August 27, 2010
    Publication date: May 5, 2011
    Applicant: SENSABLE TECHNOLOGIES, INC.
    Inventors: Christopher Tarr, J. Kenneth Salisbury, JR., Thomas Harold Massie, Walter A. Aviles
  • Publication number: 20110015647
    Abstract: A positioning system having a base, a manually movable end effector and a first joint interposed between the base and the end effector is disclosed. The first joint may comprise a proximal portion and a distal portion coupled together by magnetic attraction and configured to be intermittently separated by a pressurized gas cushion. The first joint may be configured to be changeable between a movable state and a fixed state. In the movable state, the proximal and distal portions are separated by the pressurized gas cushion and are movable relative to each other. In the fixed state, the proximal and distal portions contact each other and relative movement is thereby impeded. Methods of precisely positioning an end effector may include providing a device having a base, a first joint located distally from the base, and an end effector located distally from the first joint.
    Type: Application
    Filed: July 15, 2009
    Publication date: January 20, 2011
    Inventors: J. Kenneth Salisbury, JR., Joan Savall
  • Patent number: 7865266
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Grant
    Filed: April 24, 2003
    Date of Patent: January 4, 2011
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
  • Publication number: 20100256815
    Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
    Type: Application
    Filed: March 11, 2010
    Publication date: October 7, 2010
    Inventors: Curt Salisbury, J. Kenneth Salisbury, JR.
  • Patent number: 7806891
    Abstract: The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of freedom. In other embodiments, the system provides an input device adjacent a manipulator supporting the surgical instrument so that an assistant can reposition the instrument at the patient's side.
    Type: Grant
    Filed: March 15, 2006
    Date of Patent: October 5, 2010
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
  • Publication number: 20100243344
    Abstract: Systems and methods related to construction, configuration, and utilization of humanoid robotic systems and aspects thereof are described. A system may include a mobile base, a spine structure, a body structure, and at least one robotic arm, each of which is movably configured to have significant human-scale capabilities in prescribed environments. The one or more robotic arms may be rotatably coupled to the body structure, which may be mechanically associated with the mobile base and spine such that it may be deflectably elevated and rolled relative to the base simultaneously and independently. Aspects of the one or more arms may be counterbalanced with one or more spring-based counterbalancing mechanisms which facilitate backdriveability and payload features.
    Type: Application
    Filed: November 25, 2009
    Publication date: September 30, 2010
    Applicant: Board of Trustees of Leland Stanford Junior University
    Inventors: Keenan A. Wyrobek, Eric Berger, J. Kenneth Salisbury, JR.