Patents by Inventor Paul W Mohr

Paul W Mohr 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: 20210122067
    Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.
    Type: Application
    Filed: January 4, 2021
    Publication date: April 29, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David ROBINSON, Matthew R. CAVALIER, Gregory W. DACHS, Michael HANUSCHIK, Jason JIANG, Paul W. MOHR, Bruce M. SCHENA, Mark W. ZIMMER
  • Patent number: 10984567
    Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
    Type: Grant
    Filed: March 12, 2019
    Date of Patent: April 20, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian David Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Patent number: 10973596
    Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.
    Type: Grant
    Filed: September 6, 2019
    Date of Patent: April 13, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Daniel Miller, Nitish Swarup, Michael Turner, Arjang M. Hourtash, Paul G. Griffiths, Paul W. Mohr
  • Publication number: 20210093402
    Abstract: A method comprises displaying an image of a field of view of a surgical environment. A first medical instrument in the field of view may be coupled to a first manipulator in a teleoperational assembly. The method may comprise displaying a menu proximate to an image of the first medical instrument in the image of the field of view. The menu may include a plurality of icons wherein each icon is associated with a function for the first medical instrument. The method may also comprise identifying a selected icon from the plurality of icons based upon a movement of an operator control device of a teleoperational operator control system.
    Type: Application
    Filed: October 2, 2020
    Publication date: April 1, 2021
    Inventors: Tabish Mustufa, Heath Feather, Daniel H. Gomez, Brian D. Hoffman, Paul W. Mohr, Huan L. Phan
  • Publication number: 20210085408
    Abstract: A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.
    Type: Application
    Filed: October 5, 2020
    Publication date: March 25, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Julie L. BERRY, Joseph M. ARSANIOUS, Paul W. MOHR
  • Patent number: 10932877
    Abstract: A surgical drape for a patient side cart of a teleoperated surgical system may include a body and an attachment device feature. The body may be sized and shaped to cover at least a portion of an arm or main column of the patient side cart. The attachment device feature may be connected to the body. The attachment device feature may be configured to install the surgical drape to the arm or main column so as to cover at least a portion of the arm or main column with the surgical drape. The attachment device feature may be detectable by a sensor in an installed position of the surgical drape on the arm or main column. At least one of the main column and the arm may include a sensor to detect an attachment device feature of a surgical drape.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: March 2, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Roman L. Devengenzo, Michael L. Hanuschik, Gerard J. Labonville, Paul W. Mohr, Tyler J. Morrissette, Joseph P. Orban, III
  • Publication number: 20210038340
    Abstract: A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.
    Type: Application
    Filed: October 18, 2018
    Publication date: February 11, 2021
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Paul W. Mohr, Theodore W. Rogers
  • Patent number: 10905506
    Abstract: A system comprises a teleoperational assembly including an operator control system and a plurality of manipulators. A first manipulator is configured to control a medical instrument in a surgical environment. A second manipulator is configured to control an imaging instrument. The system further comprises a processing unit configured to: display an image of a field of view of the surgical environment captured by the imaging instrument; determine a position of a distal portion of the medical instrument in an image coordinate space; determine an initial position for a badge associated with the distal portion; determine a badge placement boundary, which is inside the image, for the image by determining a viewable space boundary for the image; and adjust the badge from the initial position to a display position within the badge placement boundary by determining an inset boundary between the badge placement boundary and the viewable space boundary.
    Type: Grant
    Filed: April 22, 2020
    Date of Patent: February 2, 2021
    Assignee: Intuitive Surgical Operations, Inc
    Inventors: Brandon D. Itkowitz, Paul W. Mohr
  • Patent number: 10899021
    Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
    Type: Grant
    Filed: April 28, 2020
    Date of Patent: January 26, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David Robinson, Matthew R. Cavalier, Gregory W. Dachs, Michael Hanuschik, Jason Jiang, Paul W. Mohr, Bruce M. Schena, Mark W. Zimmer
  • Patent number: 10881479
    Abstract: A cart for supporting one or more instruments during a computer-assisted remote procedure can comprise a base; a steering interface having a portion configured to be grasped by a user; a sensor mechanism configured to detect a force applied to the steering interface by a user; and a switch operable between an engaged position and a disengaged position. The cart may further include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and, on the condition that the switch is in the engaged position, to output a movement command based on the received input from the sensor mechanism. A driven wheel mounted to the base of the cart may be configured to impart motion to the cart in response to the movement command.
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: January 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Arjang M. Hourtash, Paul W. Mohr, David W. Robinson, Nitish Swarup, John W. Zabinski, Mark W. Zimmer
  • Publication number: 20200368915
    Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
    Type: Application
    Filed: July 17, 2020
    Publication date: November 26, 2020
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian D. Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Patent number: 10806531
    Abstract: A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.
    Type: Grant
    Filed: June 10, 2016
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Julie L. Berry, Joseph M. Arsanious, Paul W. Mohr
  • Patent number: 10806533
    Abstract: A system comprises a teleoperational assembly including an operator control system and a first teleoperational manipulator configured for operation by an operator control device of the operator control system. The first teleoperational manipulator is configured to control the operation of a first medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to display an image of a field of view of the surgical environment and display a menu proximate to an image of the first medical instrument in the image of the field of view. The menu includes at least one icon representing a function for the first medical instrument.
    Type: Grant
    Filed: April 25, 2017
    Date of Patent: October 20, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Tabish Mustufa, Heath Feather, Daniel H. Gomez, Brian D. Hoffman, Paul W. Mohr, Huan L. Phan
  • Patent number: 10779899
    Abstract: Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.
    Type: Grant
    Filed: June 22, 2018
    Date of Patent: September 22, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Brandon D. Itkowitz, Thomas R. Nixon, Roman Devengenzo
  • Publication number: 20200281672
    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device.
    Type: Application
    Filed: March 19, 2020
    Publication date: September 10, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Randal P. GOLDBERG, Michael HANUSCHIK, Paul MILLMAN, Paul W. MOHR, Thomas R. NIXON, David W. ROBINSON
  • Publication number: 20200253672
    Abstract: A surgical flux transmission conduit comprises a data signal transmission pathway; a surgical flux transmission pathway; and a connector interface. The connector interface comprises a data signal transmission terminal feature in communication with the data signal transmission pathway, and a surgical flux transmission terminal feature in communication with the surgical flux transmission pathway. The connector interface of the surgical flux transmission conduit is configured to selectively mate with a first device connector interface having at least one device surgical flux transmission terminal feature and at least one device data signal terminal feature, and with a second device connector interface having at least one device surgical flux transmission terminal feature and without a device data signal transmission terminal feature.
    Type: Application
    Filed: April 24, 2020
    Publication date: August 13, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Gregory W. DACHS, II, Bruce M. SCHENA, Paul MILLMAN, Paul W. MOHR
  • Publication number: 20200254633
    Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
    Type: Application
    Filed: April 28, 2020
    Publication date: August 13, 2020
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David ROBINSON, Matthew R. CAVALIER, Gregory W. DACHS, Michael HANUSCHIK, Jason JIANG, Paul W. MOHR, Bruce M. SCHENA, Mark W. ZIMMER
  • Patent number: 10737394
    Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: August 11, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Daniel J. Halabe, Christopher J. Hasser, Brian D. Hoffman, David Q. Larkin, Catherine J. Mohr, Paul W. Mohr, Tao Zhao, Wenyi Zhao
  • Publication number: 20200246094
    Abstract: A system comprises a teleoperational assembly including an operator control system and manipulators configured for teleoperation by the operator control system. A first manipulator controls a first medical instrument in a surgical environment and a second manipulator controls an imaging instrument. The system also comprises a processing unit to display an image of a field of view of the surgical environment captured by the imaging instrument and determine a position of a distal portion of the first medical instrument in an image coordinate space. The processing unit determines an initial position for a first badge associated with the distal portion of the first medical instrument and determine a badge placement boundary for the image of the field of view. The processing unit also adjusts the first badge from the initial position to a display position within the badge placement boundary of the image of the field of view.
    Type: Application
    Filed: April 22, 2020
    Publication date: August 6, 2020
    Inventors: Brandon D. Itkowitz, Paul W. Mohr
  • Patent number: 10709515
    Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to control movement of passive or under-actuated joints by coordinated joint braking of the under-actuated joints concurrent with driving of one or more driven joints. In one aspect, the methods include driving a set-up structure by pivoting an orienting platform supporting multiple manipulators back-and-forth in opposite directions while selectively braking the under-actuated joints to inhibit passive joint movement away from a reference joint state and releasing braking to facilitate movement of the joints toward the reference until each of the under-actuated joints of the multiple manipulators are at the respective reference states. In another aspect, a joint brake controller is provided that receives a motor torque input and converts the input to a brake control input by determining an impulse applied variable braking to deplete the impulse over time.
    Type: Grant
    Filed: June 7, 2018
    Date of Patent: July 14, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul G. Griffiths, Paul W. Mohr, Brandon D. Itkowitz