Patents by Inventor Nicola Diolaiti

Nicola Diolaiti 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: 12023803
    Abstract: Systems and methods for controlling an elongate device are provided herein. In some embodiments, a robotic system may comprise a manipulator assembly configured to drive an elongate device and a control device configured to receive user input commanding the elongate device. The robotic system may also comprise a control system communicatively coupled to the manipulator assembly and the control device. The control system may be configured to monitor movement of the elongate device during a plurality of intervals, monitor user input received by the control device during the plurality of intervals, and adjust a property of the elongate device based on at least one of the monitored movement or the monitored user input.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: July 2, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Patent number: 12005574
    Abstract: A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy in a first direction between the determined device position and the virtual user-instructed position. The control system may also be configured to receive a second user input commanding motion of the steerable device in a second direction, opposite the first direction. In response to the second user input, the position discrepancy may be reduced based on an aspect of the second user input and a catch-up profile.
    Type: Grant
    Filed: October 1, 2019
    Date of Patent: June 11, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Patent number: 12000753
    Abstract: Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. A manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.
    Type: Grant
    Filed: April 17, 2023
    Date of Patent: June 4, 2024
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Benjamin S. Flamm
  • Patent number: 11992188
    Abstract: A medical system includes a flexible elongate instrument and a control unit. The control unit is configured to determine a force exerted by the flexible elongate instrument on tissue of a patient, determine a driving state of the flexible elongate instrument, set a force threshold based on the driving state, and provide feedback to an operator in response to the determined force being higher than the force threshold. Different driving states are associated with different force thresholds.
    Type: Grant
    Filed: April 28, 2023
    Date of Patent: May 28, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Federico Barbagli, Samuel Y. Chang, Vincent Duindam
  • Patent number: 11969147
    Abstract: Techniques for multi-mode imaging device control include determining, by a controller, if an orientational mode command or a translational mode command is entered; in response to determining that the orientational mode command is entered, constraining, by the controller, movement of an imaging device so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of one or more input devices; and in response to determining that the translational mode command is entered, causing, by the controller, translational movement of the imaging device in a three-dimensional space in response to the translational movement of the one or more input devices.
    Type: Grant
    Filed: February 23, 2022
    Date of Patent: April 30, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Publication number: 20240115112
    Abstract: A control system for a device comprises a processor configured to receive, via one or more sensors, a contact signal indicating that an operator is in contact with an input control of an input control console coupled to the control system. The processor is further configured to determine whether the contact signal is an activation signal. The processor is further configured to receive an input representing a commanded motion of the device at the input control. The processor is further configured to execute the commanded motion if the processor determines that the contact signal is the activation signal.
    Type: Application
    Filed: October 19, 2023
    Publication date: April 11, 2024
    Inventors: Nicola Diolaiti, David W. Bailey
  • Patent number: 11934594
    Abstract: Systems and methods for operation of a medical device may include at least two sensors to confirm a command to control a medical instrument is intentionally made by an operator. The systems may include an operator-detection sensor associated with an input device and configured to detect a presence of an operator at the input device. The systems may also include a motion sensor associated with the input device and configured to detect a displacement distance of the input device. A control unit may use a displacement threshold for the input device and may be configured to permit or prevent control signal generation based on feedback from the at least two sensors.
    Type: Grant
    Filed: September 26, 2019
    Date of Patent: March 19, 2024
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Benjamin L. Lee, Shu-Wen Yu
  • Publication number: 20240065779
    Abstract: Systems and methods for responding to faults in a robotic system are provided herein. In some embodiments, the system includes an elongate body having a proximal end and a distal end, a backend housing coupled to the proximal end of the elongate body, and a control system. The backend housing includes one or more actuators configured to manipulate the distal end of the elongate body. The control system is configured to control the robotic system by performing operations including: determining an operational state of the medical robotic system, detecting a fault in one or more components of the medical robotic system, classifying the fault according to one or more heuristics, and imposing a fault reaction state on the medical robotic system based on the one or more heuristics to mitigate the fault.
    Type: Application
    Filed: October 20, 2023
    Publication date: February 29, 2024
    Inventors: Federico Barbagli, Christopher R. Carlson, Samuel Y. Chang, Nicola Diolaiti, Vincent Duindam, Salomon J. Trujillo
  • Publication number: 20240024054
    Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.
    Type: Application
    Filed: October 5, 2023
    Publication date: January 25, 2024
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Patent number: 11859967
    Abstract: A tool recognition system may comprise a tool recognition assembly and a control system in communication with the tool recognition assembly. The control system may comprise a processor and a memory comprising machine-readable instructions. When executed by the processor, the instructions may cause the control system to receive a first baseline sensor value from the tool recognition assembly and determine a baseline adjustment threshold based on the first baseline sensor value. The instructions may also cause the control system to receive first monitored sensor data from the tool recognition assembly and compare the first monitored sensor data to the baseline adjustment threshold for a predetermined duration. If the comparison satisfies a comparison criterion, a second baseline sensor value may be established using the first monitored sensor data.
    Type: Grant
    Filed: September 9, 2021
    Date of Patent: January 2, 2024
    Assignee: INTUITIVE SURICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Publication number: 20230404376
    Abstract: Approaches to addressing asymmetric loads at the distal end of a flexible elongate device are disclosed herein. In some embodiments, symmetry is recovered by mechanically redesigning the flexible elongate device to counter the asymmetric load. In other embodiments, symmetry is recovered by altering the controls scheme for managing the control elements in a flexible elongate device. Generally, a flexible elongate device includes a plurality of control elements able to actuate the distal section. The amount of force applied to each control element can be changed so that the plurality of control elements is able to collectively apply a bending moment that counters the asymmetric load.
    Type: Application
    Filed: November 5, 2021
    Publication date: December 21, 2023
    Inventors: Nicola Diolaiti, Mimi Trinh Fitterer, Samuel Raybin
  • Publication number: 20230390007
    Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.
    Type: Application
    Filed: August 15, 2023
    Publication date: December 7, 2023
    Inventors: Nicola DIOLAITI, Jeffrey D. BROWN, Daniel H. GOMEZ, Robert E. HOLOP, Anthony K. MCGROGAN, Probal MITRA, Craig R. RAMSTAD
  • Patent number: 11832891
    Abstract: A medical robotic system includes a control system and a manipulator assembly including actuators to manipulate a flexible elongate body, including a rotation actuator to bend the flexible elongate body. The control system is configured to perform: determining an operational state of the system; detecting a fault in one or more components of the system; classifying the fault with one or more classifications of a plurality of classifications according to heuristics; and imposing a fault reaction state on the system based on the classifications to mitigate the fault. The control system is configured to impose a first fault reaction state for a motion actuation fault and impose a second fault reaction state for a non-motion actuation fault. The first fault reaction state includes controlling the rotation actuator to cause the elongate body to become compliant to external forces placed upon the elongate body by walls of an anatomical passageway.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: December 5, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Federico Barbagli, Christopher R. Carlson, Samuel Y. Chang, Nicola Diolaiti, Vincent Duindam, Salomon J. Trujillo
  • Patent number: 11826017
    Abstract: Systems and methods for safe operation of a device include a control system having a memory and a processor coupled to the memory. The processor is configured to determine, using one or more sensors, whether an operator is in contact with an input control of a console coupled to the system. The processor is further configured to affect commanded motion of the device using the input control in response to the determination of operator contact with the input control. In some embodiments, affecting the commanded motion includes limiting commanded motion of the device using the input control in response to determining the operator is not in contact with the input control. In some embodiments, the limited commanded motion is an insertion motion of the elongate device, a retraction motion of the elongate device, or a steering motion of a distal end of the elongate device.
    Type: Grant
    Filed: July 30, 2018
    Date of Patent: November 28, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, David W. Bailey
  • Publication number: 20230363838
    Abstract: Techniques for retracting an instrument into an entry guide include an entry guide manipulator configured to support an entry guide and an instrument manipulator configured to support an instrument. The robotic system is configured to receive a command indicating a commanded movement of the entry guide in a direction parallel to an insertion axis of the entry guide; in response to the commanded movement of the entry guide being greater than a threshold distance in the direction parallel to the insertion axis, cause a response comprising one or more actions selected from the group consisting of: movement, using the instrument manipulator, of one or more rotational joints of the instrument external to the entry guide toward a distal end of the entry guide; and actuation of the one or more rotational joints to straighten the instrument so that the instrument can be retracted into the entry guide.
    Type: Application
    Filed: July 25, 2023
    Publication date: November 16, 2023
    Inventors: Nicola DIOLAITI, Paul E. LILAGAN
  • Publication number: 20230320711
    Abstract: Methods and systems for controlling articulation of a system are described. In some embodiments, a parameter related to a curvature of one or more portions of an articulable portion of elongated body may be determined. The elongated body may include a channel through which a tool may be inserted. Articulation of the articulable portion of the elongated body may be controlled based at least in part on the determined parameter in some modes of operation including when a tool is moved relative to the channel of the elongated body.
    Type: Application
    Filed: April 11, 2023
    Publication date: October 12, 2023
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Sang Gyum Kim, Samuel B. Schorr
  • Publication number: 20230301736
    Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.
    Type: Application
    Filed: May 19, 2023
    Publication date: September 28, 2023
    Inventors: Niels SMABY, Gregory W. DACHS, II, Nicola DIOLAITI, Pushkar HINGWE, Thomas R. NIXON, Bruce M. SCHENA, Nitish SWARUP
  • Patent number: 11766301
    Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.
    Type: Grant
    Filed: April 21, 2021
    Date of Patent: September 26, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
  • Patent number: 11751955
    Abstract: Techniques for retracting an instrument into an entry guide include receiving a retraction command for the instrument, the retraction command commanding movement of the instrument into the entry guide; causing, in response to the retraction command and using an instrument manipulator, movement of a rotational joint of the instrument that is external to the entry guide toward a distal end of the entry guide; actuating, after the rotational joint reaches a minimum distance from the distal end of the entry guide, the rotational joint to orient a link of the instrument so that the link can be retracted into the entry guide, the link being adjacent to and distal to the rotational joint; and causing, after the link is oriented so that the link can be retracted into the entry guide and using the instrument manipulator, further movement of the rotational joint toward the distal end of the entry guide.
    Type: Grant
    Filed: July 26, 2022
    Date of Patent: September 12, 2023
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Publication number: 20230270510
    Abstract: Systems and methods for a system include a manipulator configured to support an instrument moveable within an instrument workspace, the instrument having an instrument frame of reference; an input device configured to receive a movement command from an operator; and a control system. The control system is configured to determine a difference between an orientation of the instrument and an orientation of a field of view of the instrument workspace; adjust, based on the difference, a mapping to apply to the movement command to generate an implementable movement command for the instrument; further adjust the mapping based on an ergonomic offset to provide for a difference between an orientation of the input device and the orientation of the instrument; map, based on the adjusted mapping, the movement command to a motion of the instrument in the instrument frame of reference; and cause the instrument to move according to the motion.
    Type: Application
    Filed: April 28, 2023
    Publication date: August 31, 2023
    Inventor: Nicola DIOLAITI