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).
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Publication number: 20200022766Abstract: 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: ApplicationFiled: September 18, 2019Publication date: January 23, 2020Inventors: Paul A. Millman, David W. Bailey, Dean F. Hoornaert, David Q. Larkin, David S. Mintz
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Patent number: 10441370Abstract: 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: GrantFiled: September 19, 2016Date of Patent: October 15, 2019Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q. Larkin
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Publication number: 20190231460Abstract: 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: ApplicationFiled: September 7, 2017Publication date: August 1, 2019Inventors: Simon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
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Publication number: 20190216555Abstract: 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: ApplicationFiled: September 7, 2017Publication date: July 18, 2019Inventors: Simon Peter DiMaio, Nicholas Leo Bernstein, Paul Millman, Dinesh Rabindran, Alec Paul Robertson
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Publication number: 20180214225Abstract: 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: ApplicationFiled: March 21, 2018Publication date: August 2, 2018Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce M. Schena, Roman L. Devengenzo, Scott Luke
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Patent number: 9949801Abstract: 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: GrantFiled: November 22, 2016Date of Patent: April 24, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Publication number: 20180049828Abstract: 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: ApplicationFiled: October 27, 2017Publication date: February 22, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
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Publication number: 20180036087Abstract: 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: ApplicationFiled: October 16, 2017Publication date: February 8, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Randal P. GOLDBERG, Michael HANUSCHIK, Paul MILLMAN, Paul W. MOHR, Thomas R. NIXON, David ROBINSON
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Patent number: 9827059Abstract: 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: GrantFiled: May 20, 2016Date of Patent: November 28, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: David W. Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Jason Hemphill, David Q. Larkin, Paul Millman
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Patent number: 9814536Abstract: 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: GrantFiled: March 16, 2016Date of Patent: November 14, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Randal P Goldberg, Michael Hanuschik, Paul Millman, Paul W. Mohr, Thomas R. Nixon, David Robinson
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Publication number: 20170265948Abstract: 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: ApplicationFiled: May 30, 2017Publication date: September 21, 2017Inventors: Giuseppe Maria Prisco, Hubert Stein, Paul Millman, David W. Bailey, William C. Nowlin, Thomas R. Nixon, Gregory K. Toth
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Publication number: 20170095304Abstract: 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: ApplicationFiled: November 22, 2016Publication date: April 6, 2017Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Patent number: 9597153Abstract: 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: GrantFiled: March 17, 2015Date of Patent: March 21, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Paul Mohr, Michael Hanuschik, Paul Millman
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Publication number: 20170000573Abstract: 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: ApplicationFiled: September 19, 2016Publication date: January 5, 2017Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q Larkin
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Patent number: 9517106Abstract: 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: GrantFiled: May 31, 2013Date of Patent: December 13, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Arjang M. Hourtash, Paul W. Mohr, Pushkar Hingwe, Paul Millman, Bruce Michael Schena, Roman L. Devengenzo, Scott Luke
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Publication number: 20160338786Abstract: 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: ApplicationFiled: May 20, 2016Publication date: November 24, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David W. ROBINSON, Thomas R. NIXON, Michael HANUSCHIK, Randal P. GOLDBERG, Jason HEMPHILL, David Q. LARKIN, Paul MILLMAN
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Patent number: 9446177Abstract: 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: GrantFiled: July 13, 2012Date of Patent: September 20, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Paul Millman, David Bailey, Dean Hoornaert, David Stephen Mintz, David Q. Larkin
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Publication number: 20160192998Abstract: 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: ApplicationFiled: March 16, 2016Publication date: July 7, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Randal P. GOLDBERG, Michael HANUSCHIK, Paul MILLMAN, Paul W. MOHR, Thomas R. NIXON, David ROBINSON
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Patent number: 9375288Abstract: 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: GrantFiled: March 9, 2015Date of Patent: June 28, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: David W. Robinson, Thomas R. Nixon, Michael Hanuschik, Randal P. Goldberg, Jason Hemphill, David Q. Larkin, Paul Millman
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Patent number: 9301811Abstract: 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: GrantFiled: September 16, 2013Date of Patent: April 5, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Randal P Goldberg, Michael Hanuschik, Paul Millman, Paul W. Mohr, Thomas R. Nixon, David Robinson