Patents by Inventor Paul Millman

Paul Millman 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: 10402358
    Abstract: A system and approach for addressing modules on a platform bus that may incorporate a master module and one or more slave modules. The platform bus may run through sub-base connectors that interlock modules together on a rail. Addressing of the modules may occur automatically and dynamically in that the master module may have a first address by default, and a first slave module adjoining the master module may be assigned a second address. A second slave module adjoining the first slave module, if there is one, may be assigned a third address. Each of the other slave modules, adjoining a preceding slave module assigned an address, may be assigned a next address after an address assigned to a preceding slave module. Addresses may be assigned in a numerical order to each module based on a physical position of the respective module on a rail.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: September 3, 2019
    Assignee: Honeywell International Inc.
    Inventors: Ronald Sorenson, Paul Patton, Rick Solosky, Rolf L. Strand, John Evers, Patrick Springman, Yury Millman
  • Publication number: 20190231460
    Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.
    Type: Application
    Filed: September 7, 2017
    Publication date: August 1, 2019
    Inventors: Simon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
  • Publication number: 20190216555
    Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.
    Type: Application
    Filed: September 7, 2017
    Publication date: July 18, 2019
    Inventors: Simon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
  • Publication number: 20180214225
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Application
    Filed: March 21, 2018
    Publication date: August 2, 2018
    Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce M. Schena, Roman L. Devengenzo, Scott Luke
  • Patent number: 9949801
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Grant
    Filed: November 22, 2016
    Date of Patent: April 24, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
  • Publication number: 20180049828
    Abstract: A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
    Type: Application
    Filed: October 27, 2017
    Publication date: February 22, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
  • Publication number: 20180036087
    Abstract: A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument.
    Type: Application
    Filed: October 16, 2017
    Publication date: February 8, 2018
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Randal P. GOLDBERG, Michael HANUSCHIK, Paul MILLMAN, Paul W. MOHR, Thomas R. NIXON, David ROBINSON
  • Patent number: 9827059
    Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: November 28, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David W. Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Jason Hemphill, David Q. Larkin, Paul Millman
  • Patent number: 9814536
    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: November 14, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Randal P Goldberg, Michael Hanuschik, Paul Millman, Paul W. Mohr, Thomas R. Nixon, David Robinson
  • Publication number: 20170265948
    Abstract: A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.
    Type: Application
    Filed: May 30, 2017
    Publication date: September 21, 2017
    Inventors: Giuseppe Maria Prisco, Hubert Stein, Paul Millman, David W. Bailey, William C. Nowlin, Thomas R. Nixon, Gregory K. Toth
  • Publication number: 20170095304
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Application
    Filed: November 22, 2016
    Publication date: April 6, 2017
    Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
  • Patent number: 9597153
    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: March 21, 2017
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul Mohr, Michael Hanuschik, Paul Millman
  • Publication number: 20170000573
    Abstract: A teleoperated surgical instrument comprises a housing configured to couple to a teleoperated manipulator and an elongated tube having a first end and a second end opposite the first end. The first end is mounted to the housing and the second end has one or more openings configured to deliver or receive a fluid at a surgical site. The instrument further comprises a flow control system in the housing. The flow control system includes a first tubular member coupled to the elongated tube and a first control element rotatable relative to the housing and the first tubular member. The first control element includes a receiving portion coupled to a shaft portion. The receiving portion is configured to couple with the teleoperated manipulator and rotate to control flow of the fluid through the first tubular member.
    Type: Application
    Filed: September 19, 2016
    Publication date: January 5, 2017
    Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q Larkin
  • Patent number: 9517106
    Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
    Type: Grant
    Filed: May 31, 2013
    Date of Patent: December 13, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
  • Publication number: 20160338786
    Abstract: A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply equipment. The controller may be configured to output a feedback command to cause feedback to a user, the feedback indicating the first one of the plurality of surgical instruments is configured for activation in response to the activation command.
    Type: Application
    Filed: May 20, 2016
    Publication date: November 24, 2016
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
  • Patent number: 9446177
    Abstract: In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
    Type: Grant
    Filed: July 13, 2012
    Date of Patent: September 20, 2016
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q. Larkin
  • Publication number: 20160192998
    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system may include detecting a first surgical instrument coupled to a first manipulator interface assembly of a teleoperated surgical system, the manipulator interface assembly being controlled by a first input device; detecting which one of a user's left and right hands operates the first input device; and assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the user's left hand is detected to operate the first input device, or assigning control of an auxiliary function of the first surgical instrument to a second auxiliary input device disposed in a right position relative to the first auxiliary input device if the user's right hand is detected to operate the first input device.
    Type: Application
    Filed: March 16, 2016
    Publication date: July 7, 2016
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Randal P. GOLDBERG, Michael HANUSCHIK, Paul MILLMAN, Paul W. MOHR, Thomas R. NIXON, David ROBINSON
  • Patent number: 9375288
    Abstract: A method for a minimally invasive surgical system is disclosed including reading first tool information from a storage device in a first robotic surgical tool mounted to a first robotic arm to at least determine a first tool type; reading equipment information about one or more remote controlled equipment for control thereof; comparing the first tool information with the equipment information to appropriately match a first remote controlled equipment of the one or more remote controlled equipment to the first robotic surgical tool; and mapping one or more user interface input devices of a first control console to control the first remote controlled equipment to support a function of the first robotic surgical tool.
    Type: Grant
    Filed: March 9, 2015
    Date of Patent: June 28, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Jason Hemphill, David Q. Larkin, Paul Millman
  • Patent number: 9301811
    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.
    Type: Grant
    Filed: September 16, 2013
    Date of Patent: April 5, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Randal P Goldberg, Michael Hanuschik, Paul Millman, Paul W. Mohr, Thomas R. Nixon, David Robinson
  • Patent number: 9216243
    Abstract: In one embodiment of the invention, a robotic surgical system is provided including a master control console and a surgical manipulator. The master control console generates control signals to cause one or more fluids to flow into or out of a surgical site. The surgical manipulator is coupled to the console to receive the control signals and includes at least one robotic arm and a surgical instrument coupled thereto. The surgical manipulator controls the surgical instrument in response to the control signals to control the flow of the one or more fluids into or out of the surgical site. The surgical instrument has a first robotically controlled valve that is responsive to the surgical manipulator and a hollow tube having a first end coupled to the first robotically controlled valve with an opening at a second end to direct the flow of one or more fluids.
    Type: Grant
    Filed: April 10, 2012
    Date of Patent: December 22, 2015
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q Larkin, John Magnasco, Gary Guthurt, Nitish Swarup, Salvatore Brogna