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).

  • Publication number: 20220361969
    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: Application
    Filed: July 26, 2022
    Publication date: November 17, 2022
    Inventors: Nicola DIOLAITI, Paul E. LILAGAN
  • Publication number: 20220354600
    Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.
    Type: Application
    Filed: June 8, 2022
    Publication date: November 10, 2022
    Inventors: Marc E. Tognaccini, Daniel H. Gomez, Nicola Diolaiti, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
  • Patent number: 11490977
    Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.
    Type: Grant
    Filed: January 14, 2020
    Date of Patent: November 8, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Bruce Michael Schena, Roman L. Devengenzo, Gary C. Ettinger, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez
  • Publication number: 20220296324
    Abstract: A teleoperational control system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to engage a first operational mode of the teleoperational control system for controlling a teleoperational instrument in response to movement of a control device in a first degree of freedom and engage a second operational mode of the teleoperational control system for controlling a graphical user interface. While in the second operational mode, the system may track movement of the control device in a second degree of freedom, different from the first degree of freedom. While in the second operational mode and responsive to the movement of the control device in the second degree of freedom, the system may apply a first haptic force to the control device.
    Type: Application
    Filed: June 7, 2022
    Publication date: September 22, 2022
    Inventor: Nicola DIOLAITI
  • Patent number: 11432888
    Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.
    Type: Grant
    Filed: March 6, 2019
    Date of Patent: September 6, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Publication number: 20220273377
    Abstract: A medical system includes a flexible elongate instrument and a control system. The flexible elongate instrument includes a plurality of wires useable to control articulation of the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument, determine an extent of motion of the flexible elongate instrument based on the monitoring, and determine a mode of operation for the flexible elongate instrument from a plurality of modes of operation based on the monitoring. The plurality of modes of operation includes a retraction mode, an insertion mode, and a parking mode. The control system is further configured to, in response to a change in the mode of operation, alter a rigidity of the flexible elongate instrument with a rate of rigidity change that is based on the extent of motion using one or more of the plurality of wires.
    Type: Application
    Filed: April 29, 2022
    Publication date: September 1, 2022
    Inventors: NICOLA DIOLAITI, Samuel Y. Chang, Vincent Duindam
  • Publication number: 20220273280
    Abstract: A system including a flexible catheter configured to articulate along a degree of freedom. An actuator is disposed at a proximal portion of the flexible catheter. The actuator is configured to actuate the flexible catheter along the degree of freedom. An articulation sensor is configured to provide articulation sensor signals representing articulation of the flexible catheter. An actuator sensor is configured to provide actuator sensor signals representing movement of the actuator. A controller is coupled to the actuator and configured to, based on determining that a state of a first articulation sensor signal prevents or hinders the first articulation signal from being used as a feedback signal for controlling the actuator to: determine an articulation estimate of the flexible catheter based on a model of the flexible catheter applied to a first actuator sensor signal; and, control the actuator based on the articulation estimate.
    Type: Application
    Filed: September 25, 2020
    Publication date: September 1, 2022
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Samuel B. Schorr, Nicola Diolaiti, Wanxi Liu
  • Patent number: 11399908
    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: Grant
    Filed: December 6, 2018
    Date of Patent: August 2, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, David Q. Larkin, Catherine J. Mohr
  • Patent number: 11382702
    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 are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
    Type: Grant
    Filed: June 19, 2019
    Date of Patent: July 12, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Marc E. Tognaccini, Daniel H. Gomez, Nicola Diolaiti, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
  • Patent number: 11376088
    Abstract: A haptic feedback method comprises providing a teleoperational control system including a first operational mode for operating a teleoperational instrument in response to movement of a control device in a first degree of freedom and a second operational mode for controlling a graphical user interface. The method also includes engaging the second operational mode of the teleoperational control system. While in the second operational mode, the method includes tracking movement of the control device of in a second degree of freedom, different from the first degree of freedom. While in the second operational mode and responsive to the movement of the control device in the second degree of freedom, the method includes applying, by a teleoperational control system, a first haptic force to the control device.
    Type: Grant
    Filed: June 29, 2018
    Date of Patent: July 5, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Publication number: 20220183780
    Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.
    Type: Application
    Filed: March 1, 2022
    Publication date: June 16, 2022
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Thomas G. COOPER, Jeffrey D. BROWN, Nicola DIOLAITI, Eugene F. DUVAL, Daniel H. GOMEZ, Robert E. HOLOP, Paul E. LILAGAN, Anthony K. MCGROGAN, Craig R. RAMSTAD
  • Publication number: 20220175230
    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: Application
    Filed: February 23, 2022
    Publication date: June 9, 2022
    Inventor: Nicola DIOLAITI
  • Patent number: 11344376
    Abstract: A computer-assisted medical system comprises a flexible elongate instrument. The flexible elongate instrument comprises a plurality of wires extending from a proximal end of the flexible elongate instrument to a distal end of the flexible elongate instrument. Each wire of the plurality of wires may be used to steer the distal end. The system also comprises a control system coupled to the flexible elongate instrument. The control system is configured to monitor movement of the flexible elongate instrument along a longitudinal central axis and determine an extent of motion of the flexible elongate instrument in a first direction along the longitudinal central axis based on the monitoring. The control system is also configured to alter a rigidity of the flexible elongate instrument based on a rigidity profile relative to the extent of motion by adjusting one or more forces applied by the plurality of wires to the distal end of the flexible elongate instrument.
    Type: Grant
    Filed: June 30, 2017
    Date of Patent: May 31, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nicola Diolaiti, Samuel Y. Chang, Vincent Duindam
  • Patent number: 11284782
    Abstract: A system and method for multi-mode imaging device control includes a manipulator having one or more first joints and one or more second joints and a controller. The one or more first joints are configured to pivot a focal point of an imaging device about a pivot. The one or more second joints are configured to position the pivot within a three-dimensional space. The controller is configured to actuate the one or more first joints in response to sensed movement of one or more input devices until a release of the actuation of the one or more first joints is detected, detect the release of the actuation of the one or more first joints, and actuate the one or more second joints in response to sensed movement of the one or more input devices following the detection of the release of the actuation of the one or more first joints.
    Type: Grant
    Filed: January 28, 2020
    Date of Patent: March 29, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Nicola Diolaiti
  • Patent number: 11278364
    Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
    Type: Grant
    Filed: September 11, 2019
    Date of Patent: March 22, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
  • Publication number: 20220082378
    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: Application
    Filed: September 9, 2021
    Publication date: March 17, 2022
    Inventor: Nicola Diolaiti
  • Publication number: 20220009085
    Abstract: Systems and methods for controlling movement of a steerable device are provided. In some embodiments, a system may include a control device, a manipulator system, and/or a control system communicatively coupled to the manipulator system and the control device. The control system may 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 receive a second user input commanding motion of the steerable device in a second direction. At least a portion of the second direction may be opposite the first direction. The control system may also reduce the position discrepancy based on an aspect of the second user input and a catch-up profile.
    Type: Application
    Filed: October 1, 2019
    Publication date: January 13, 2022
    Inventor: Nicola Diolaiti
  • Publication number: 20220009084
    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: Application
    Filed: October 1, 2019
    Publication date: January 13, 2022
    Inventor: Nicola Diolaiti
  • Publication number: 20210393349
    Abstract: Systems and methods for verification and calibration of robotic instruments are provided. A robotic system may include an instrument carriage to receive an elongate device, and the instrument carriage may comprise a set of drive sensors. The system may also include a tracking system configured to receive an indication that the elongate device is installed on the instrument carriage, operate a set of actuators to articulate a distal portion of the elongate device, and generate a set of drive sensor data from the set of drive sensors. The tracking system may also be configured to generate a set of articulation sensor data from a shape sensor of the elongate device, compare the set of drive sensor data to the set of articulation sensor data to generate a test profile, and determine whether the test profile corresponds to a reference profile. Corrective action may be determined.
    Type: Application
    Filed: October 1, 2019
    Publication date: December 23, 2021
    Inventors: Nicola Diolaiti, Wanxi Liu, Samuel B. Schorr
  • Publication number: 20210349559
    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: Application
    Filed: September 26, 2019
    Publication date: November 11, 2021
    Inventors: Nicola Diolaiti, Benjamin L. Lee, Shu-Wen Yu