Patents by Inventor Kenneth A. Salisbury
Kenneth A. Salisbury 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: 6714839Abstract: The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.Type: GrantFiled: September 17, 1999Date of Patent: March 30, 2004Assignee: Intuitive Surgical, Inc.Inventors: J. Kenneth Salisbury, Jr., Akhil J. Madhani, Gary S. Guthart, Günter D. Niemeyer, Eugene F. Duval
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Patent number: 6684129Abstract: An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, to close the jaws of a surgical grasper.Type: GrantFiled: April 11, 2002Date of Patent: January 27, 2004Assignee: Intuitive Surgical, Inc.Inventors: J. Kenneth Salisbury, Jr., Akhil J. Madhani, Gary S. Guthart, Gunter D. Niemeyer, Eugene F. Duval
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Patent number: 6659939Abstract: 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: GrantFiled: November 3, 1999Date of Patent: December 9, 2003Assignee: Intuitive Surgical, 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, Michael Tierney
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Publication number: 20030220541Abstract: A method of performing a surgical procedure on a patient is provided. The method typically comprises positioning a surgical work station of a robotically controlled surgical system and a patient on which a surgical procedure is to be performed in close proximity relative to each other, directing a field of view of an image capture device of the surgical work station at a surgical site on the patient, at which site the surgical procedure is to be performed, and introducing at least one robotically controlled surgical instrument on the surgical work station to the surgical site so that an end effector of the surgical instrument is within the field of view of the image capture device. The method typically further comprises displaying an image of the surgical site and the end effector on a display area of an image display at an operator control station of the surgical system.Type: ApplicationFiled: December 5, 2002Publication date: November 27, 2003Applicant: INTUITIVE SURGICAL, INC.Inventors: J. Kenneth Salisbury, Gunter D. Niemeyer, Robert G. Younge, Gary S. Guthart, David S. Mintz, Thomas G. Cooper
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Publication number: 20030216715Abstract: 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: ApplicationFiled: April 24, 2003Publication date: November 20, 2003Applicant: INTUITIVE SURGICAL, 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, Michael J. Tierney
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Patent number: 6587750Abstract: An input device for robotic surgery mechanically transmits a grip signal across a first joint coupling a handle to a linkage supporting the handle. The handle is removable and replaceable, allows unlimited rotation about the joint, and may optionally include a touch sensor to inhibit movement of a surgical end effector when the hand of the surgeon is not in contact with the handle.Type: GrantFiled: September 25, 2001Date of Patent: July 1, 2003Assignee: Intuitive Surgical, Inc.Inventors: Craig Richard Gerbi, Eugene F. Duval, Don Minami, Bob Hager, J. Kenneth Salisbury, Akhil Madhani, John Stern, Gary S. Guthart
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Publication number: 20030088389Abstract: Long Elements Method (LEM) for real time physically based dynamic simulation of deformable objects. The LEM is based on a new meshing strategy using long elements whose forms can be straight or arbitrary. The LEM implements a static solution for elastic global deformations of objects filled with fluid based on the Pascal's principle and volume conservation. The volumes are discretised in long elements, defining meshes one order of magnitude smaller than meshes based on tetrahedral or cubic elements. The LEM further combines static and dynamic approaches to simulate the same deformable medium, allowing modeling a three-dimensional internal state at any point inside the deforming medium from a reduced number of explicitly updated elements. Complex elastic and plastic deformations can be simulated in real time with less computational effort. The LEM is particularly useful in real time virtual interactions, soft tissue modeling, and graphic and haptic rendering.Type: ApplicationFiled: October 29, 2001Publication date: May 8, 2003Inventors: Remis Balaniuk, Ivan F. Costa, J. Kenneth Salisbury
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Publication number: 20030060927Abstract: An input device for robotic surgery mechanically transmits a grip signal across a first joint coupling a handle to a linkage supporting the handle. The handle is removable and replaceable, allows unlimited rotation about the joint, and may optionally include a touch sensor to inhibit movement of a surgical end effector when the hand of the surgeon is not in contact with the handle.Type: ApplicationFiled: September 25, 2001Publication date: March 27, 2003Applicant: INTUITIVE SURGICAL, INC.Inventors: Craig Richard Gerbi, Eugene F. Duval, Don Minami, Robert F. Hagen, J. Kenneth Salisbury, Akhil Madhani, John Stern, Gary S. Guthart
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Publication number: 20030034994Abstract: The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch.Type: ApplicationFiled: November 16, 2001Publication date: February 20, 2003Inventors: Thomas H. Massie, J. Kenneth Salisbury
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Patent number: 6522906Abstract: 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: GrantFiled: December 14, 1999Date of Patent: February 18, 2003Assignee: Intuitive Surgical, Inc.Inventors: J. Kenneth Salisbury, Jr., Gunter D. Niemeyer, Robert G. Younge, Gary S. Guthart, David S. Mintz, Thomas G. Cooper
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Publication number: 20030023346Abstract: An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, for example, to close the jaws of a surgical grasper.Type: ApplicationFiled: April 11, 2002Publication date: January 30, 2003Applicant: INTUITIVE SURGICAL, INC.Inventors: J. Kenneth Salisbury, Akhil J. Madhani, Gary S. Guthart, Gunter D. Niemeyer, Eugene F. Duval
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Publication number: 20030013949Abstract: 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: ApplicationFiled: November 3, 1999Publication date: January 16, 2003Inventors: FREDERIC H. MOLL, DAVID J. ROSA, ANDRIS D. RAMANS, STEVEN J. BLUMENKRANZ, GARY S. GUTHART, GUNTER D. NIEMEYER, WILLIAM C. NOWLIN, J. KENNETH SALISBURY, MICHAEL J. TIERNEY
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Patent number: 6459926Abstract: 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: GrantFiled: September 17, 1999Date of Patent: October 1, 2002Assignee: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Jr., Gunter D. Niemeyer
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Publication number: 20020128552Abstract: 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: ApplicationFiled: January 15, 2002Publication date: September 12, 2002Applicant: Intuitive Surgical, Inc.Inventors: William C. Nowlin, Gary S. Guthart, J. Kenneth Salisbury, Gunter D. Niemeyer
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Publication number: 20020120363Abstract: The invention provides an input device for robotics surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulative configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, for example, to close the jaws of a surgical grasper.Type: ApplicationFiled: September 17, 1999Publication date: August 29, 2002Inventors: J. KENNETH SALISBURY, AKHIL J. MADHANI, GARY S. GUTHART, GUNTER NIEMEYER, EUGENE F. DUVAL
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Publication number: 20020103476Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.Type: ApplicationFiled: February 15, 2002Publication date: August 1, 2002Applicant: Intuitive Surgical, Inc.Inventors: Akhil J. Madhani, J. Kenneth Salisbury
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Publication number: 20020082612Abstract: Improved robotic surgical systems, devices, and methods often include a first assembly with a surgical end effector supported and manipulated relative to a first base by a first robotic linkage, while a second surgical end effector manipulated and supported relative to a second, independent base by a second robotic linkage. One or more of these robotic assemblies may be moved relative to the other. To coordinate the end effector movements with those of input devices being manipulated by a surgeon relative to a display of a surgical worksite, the processor deriving the commands for movement of the robotic linkages may make use of a signal indicating a relative orientation of the bases of the robotic arm assemblies. Surprisingly, the robotic arm assemblies may not transmit signals to the processor indicating a relative translational position of the bases.Type: ApplicationFiled: October 5, 2001Publication date: June 27, 2002Applicant: Intuitive Surgical, Inc.Inventors: Frederic H. Moll, David J. Rose, Andris D. Ramans, Stephen J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Michael J. Tierney
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Patent number: 6405158Abstract: The invention is an apparatus for physically exchanging a force with a user in an environment local to the user. A connection element connects to a user's body member and a linkage between the connection element and ground. The linkage includes means for powering at least three independent freedoms of the connection element relative to ground and means for maintaining at least one independent freedom of the connection element relative to ground free of power. Up to three independent freedoms of the connection element may be maintained free of power, and up to five independent freedoms may be powered. Other aspects of the invention include a two actuator counter-balance for controlling a point on a link. The invention also includes apparatus for establishing a virtual, switch, which presents to the user the force and displacement relationship of a spring switch.Type: GrantFiled: March 12, 1999Date of Patent: June 11, 2002Assignee: Massachusetts Institute of TechnologyInventors: Thomas H Massie, Kenneth Salisbury, Jr.
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Patent number: 6371952Abstract: An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.Type: GrantFiled: June 28, 1999Date of Patent: April 16, 2002Assignee: Intuitive Surgical, Inc.Inventors: Akhil J. Madhani, J. Kenneth Salisbury
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Patent number: 6369834Abstract: A method and apparatus for determining forces to be applied to a user through a haptic interface. The method includes the steps of generating a representation of an object in graphic space, sensing the position of the user in real space and calculating a force to be applied to a user in response to the user's haptic interface and the user's fiducial object. The user's fiducial object represents the location in graphic space at which the user's haptic interface would be located if the haptic interface could not penetrate the surfaces of virtual objects. In one embodiment, the method calculates a stiffness force to be applied to the user. In other embodiments, the method calculates damping and friction forces to be applied to the user. In one embodiment the step of generating a representation of an object in graphic space includes defining the object as a mesh of planar surfaces and associating surface condition values to each of the nodes defining the planar surfaces.Type: GrantFiled: June 2, 1999Date of Patent: April 9, 2002Assignee: Massachusetts Institute of TechnologyInventors: Craig B. Zilles, J. Kenneth Salisbury, Jr., Thomas H. Massie, David Lawrence Brock, Mandayam A. Srinivasan, Hugh B. Morgenbesser