Patents by Inventor Robert E. Holop

Robert E. Holop 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: 11457989
    Abstract: A surgical drape installation aid comprises a body comprising a sidewall and a plurality of rotatable seal interface elements. The sidewall bounds an interior volume of the body and has a first end and a second end. The first end of the sidewall bounds a first open end of the body and the second end of the sidewall bounds a second open end of the body. Each of the plurality of rotatable seal interface elements extends from the second end of the sidewall.
    Type: Grant
    Filed: May 25, 2017
    Date of Patent: October 4, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Craig R. Ramstad, Robert E. Holop
  • Publication number: 20220296322
    Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.
    Type: Application
    Filed: June 10, 2022
    Publication date: September 22, 2022
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Daniel H. GOMEZ, Jeffrey D. BROWN, Thomas G. COOPER, Eugene F. DUVAL, Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD, Theodore W. ROGERS, Todd R. SOLOMON
  • Patent number: 11376086
    Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: July 5, 2022
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad
  • 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: 20220151722
    Abstract: A surgical system comprises a sterile adapter assembly comprising a mechanical surgical instrument removal lockout and a mechanical sterile adapter assembly removal lockout. The mechanical sterile adapter assembly removal lockout is activated on a condition of a surgical instrument mounted in the sterile adapter assembly. The mechanical surgical instrument removal lockout is activated by a surgical instrument manipulator assembly on a condition of the surgical instrument being mounted in the sterile adapter assembly and movement of the surgical instrument manipulator assembly by a predetermined distance.
    Type: Application
    Filed: November 19, 2021
    Publication date: May 19, 2022
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Robert E. HOLOP
  • 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
  • Patent number: 11219497
    Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: January 11, 2022
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Robert E. Holop
  • Publication number: 20210282873
    Abstract: Techniques for automated engagement and disengagement of a preload include a computer-assisted apparatus. The computer-assisted apparatus includes an instrument manipulator assembly including a preload assembly and a controller coupled to the instrument manipulator assembly. The controller is configured to move the instrument manipulator assembly to a fully withdrawn position and command the preload assembly to engage a preload. In some embodiments, engaging the preload causes the preload assembly to assert a preload force on a motor pack of the instrument manipulator assembly. In some embodiments, the controller is further configured to move the instrument manipulator assembly to a home position after the preload is engaged.
    Type: Application
    Filed: March 5, 2021
    Publication date: September 16, 2021
    Inventors: Robert E. HOLOP, Todd R. SOLOMON
  • Patent number: 11090124
    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: May 30, 2019
    Date of Patent: August 17, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Robert E. Holop, Thomas G. Cooper
  • Publication number: 20210236220
    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: Application
    Filed: April 21, 2021
    Publication date: August 5, 2021
    Inventors: Nicola Diolaiti, Jeffrey D. Brown, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Probal Mitra, Craig R. Ramstad
  • Publication number: 20210220066
    Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
    Type: Application
    Filed: January 27, 2021
    Publication date: July 22, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Todd R. SOLOMON, Thomas G. COOPER, Eugene F. DUVAL, Nicola DIOLAITI, Daniel H. GOMEZ, Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD, Theodore W. ROGERS
  • Patent number: 11020191
    Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.
    Type: Grant
    Filed: May 16, 2017
    Date of Patent: June 1, 2021
    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: 11020190
    Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: June 1, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. Holop, Todd R. Solomon
  • Patent number: 10993775
    Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: June 2, 2020
    Date of Patent: May 4, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Robert E. Holop
  • Patent number: 10993773
    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
    Type: Grant
    Filed: April 8, 2019
    Date of Patent: May 4, 2021
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Anthony K. McGrogan, Robert E. Holop
  • Publication number: 20210085411
    Abstract: A sterile drape comprises a plurality of sleeves and a plurality of sterile adapters each at a distal end of a corresponding drape sleeve. Each sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, a membrane interface at a distal end of the housing that includes a plurality of actuator interfaces, and a pair of supports coupled to the housing to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are opposite to corresponding manipulator actuator outputs with a corresponding actuator interface between each corresponding instrument actuator input and manipulator actuator output. Each sterile adapter also comprises a rotatable seal adapted to couple a proximal opening of each drape sleeve to a rotatable element at a distal end of the manipulator arm.
    Type: Application
    Filed: December 4, 2020
    Publication date: March 25, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. HOLOP, Anthony K. McGROGAN, Craig R. RAMSTAD
  • Publication number: 20210077207
    Abstract: A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state.
    Type: Application
    Filed: November 30, 2020
    Publication date: March 18, 2021
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. HOLOP, Thomas G. COOPER
  • Patent number: 10918449
    Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: February 16, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC
    Inventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers
  • Patent number: 10869730
    Abstract: A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.
    Type: Grant
    Filed: July 1, 2015
    Date of Patent: December 22, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad
  • Patent number: 10864048
    Abstract: A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state. A system for detecting an operative condition of a surgical instrument of a teleoperated surgical system includes a surgical instrument comprising a housing for coupling the surgical instrument in an installed position at a patient side cart of a teleoperated surgical system, the housing comprising a connector feature. A flux transmission conduit is engageable with the connector feature to place the surgical instrument in a flux connection state.
    Type: Grant
    Filed: November 1, 2013
    Date of Patent: December 15, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Robert E. Holop, Thomas G. Cooper