Patents by Inventor William C. Nowlin

William C. Nowlin 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: 20210077210
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.
    Type: Application
    Filed: November 30, 2020
    Publication date: March 18, 2021
    Inventors: Brandon D. ITKOWITZ, Simon P. DIMAIO, William C. NOWLIN, Gunter D. NIEMEYER, David S. MINTZ
  • Patent number: 10881473
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.
    Type: Grant
    Filed: April 29, 2020
    Date of Patent: January 5, 2021
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. Dimaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
  • Publication number: 20200323423
    Abstract: A robotic system includes a display to display an image captured by an image capture device, a linkage movably supporting the display, the linkage including a multitude of links, a multitude of joints coupling the multitude of links, and a multitude of sensors configured to sense configuration information of the linkage. A physical movement of the display corresponds to a configuration change of the linkage. The robotic system further includes a processor coupled to the multitude of sensors. The processor is configured to obtain sensor signals from the multitude of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals.
    Type: Application
    Filed: April 27, 2020
    Publication date: October 15, 2020
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, William C. Nowlin
  • Publication number: 20200305984
    Abstract: A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.
    Type: Application
    Filed: April 27, 2020
    Publication date: October 1, 2020
    Inventors: Tao Zhao, William C. Nowlin, Wenyi Zhao
  • Publication number: 20200253675
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining a grip orientation by which the master grip is gripped by an operator, determining a commanded velocity for the slave instrument based on a manipulation of the master grip by the operator, determining an error, and altering the commanded velocity for the slave instrument based on at least the grip orientation and the error. The error includes a parameter selected from a group consisting of a position error between a position of the master grip and a position of the slave instrument and an orientation error between an orientation of the master grip and an orientation of the slave instrument.
    Type: Application
    Filed: April 29, 2020
    Publication date: August 13, 2020
    Inventors: Brandon D. ITKOWITZ, Simon P. DIMAIO, William C. NOWLIN, Gunter D. Niemeyer, David S. MINTZ
  • Publication number: 20200237456
    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: April 13, 2020
    Publication date: July 30, 2020
    Inventors: Giuseppe Maria Prisco, Hubert Stein, Paul Millman, David W. Bailey, William C. Nowlin, Gregory K. Toth, Thomas R. Nixon
  • Publication number: 20200214776
    Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.
    Type: Application
    Filed: November 10, 2017
    Publication date: July 9, 2020
    Inventors: Pushkar Hingwe, Amy E. Kerdok, William C. Nowlin, David W. Robinson
  • Publication number: 20200188047
    Abstract: A method is provided for use with a teleoperated surgical system, the method comprising: determining patient position information during a setup for a performance of the surgical procedure within an instance of the surgical system; determining a match between the determined patient position and a patient position signature; and launching a support arm control signal within the surgical system that corresponds to the matched support arm signature.
    Type: Application
    Filed: November 10, 2017
    Publication date: June 18, 2020
    Inventors: Brandon D. Itkowitz, Mahdi Azizian, Brian D. Hoffman, Ian E. McDowall, Paul W. Mohr, William C. Nowlin
  • Patent number: 10675109
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.
    Type: Grant
    Filed: March 14, 2019
    Date of Patent: June 9, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
  • Patent number: 10674900
    Abstract: In one embodiment of the invention, a method and system for controlling a telesurgical tool is disclosed. The method and system for controlling a telesurgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
    Type: Grant
    Filed: October 4, 2017
    Date of Patent: June 9, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, William C. Nowlin
  • Patent number: 10675098
    Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, a medical system includes a tool having a distal end that is insertable into a patient body, an image capture device insertable into the patient body so that the image capture device captures an image of at least a portion of a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the image.
    Type: Grant
    Filed: September 8, 2017
    Date of Patent: June 9, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Tao Zhao, Wenyi Zhao, William C. Nowlin
  • Publication number: 20200060777
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Application
    Filed: October 29, 2019
    Publication date: February 27, 2020
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Publication number: 20200007856
    Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
    Type: Application
    Filed: September 12, 2019
    Publication date: January 2, 2020
    Inventors: Brian D. Hoffman, Christopher J. Hasser, William C. Nowlin
  • Patent number: 10512513
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: December 24, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 10512514
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: December 24, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 10432921
    Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
    Type: Grant
    Filed: July 12, 2018
    Date of Patent: October 1, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Brian D. Hoffman, Christopher J. Hasser, William C. Nowlin
  • Publication number: 20190282311
    Abstract: A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.
    Type: Application
    Filed: November 10, 2017
    Publication date: September 19, 2019
    Inventors: William C. Nowlin, Mahdi Azizian, Simon P. DiMaio, Brian D. Hoffman, Paul W. Mohr
  • Publication number: 20190282312
    Abstract: A teleoperated surgical system is provided comprising: a first robotic surgical instrument; an image capture; a user display; a user input command device coupled to receive user input commands to control movement of the first robotic surgical instrument; and a movement controller coupled to scale a rate of movement of the first robotic surgical instrument, based at least in part upon a surgical skill level at using the first robotic surgical instrument of the user providing the received user input commands, from a rate of movement indicated by the user input commands received at the user input command device.
    Type: Application
    Filed: November 10, 2017
    Publication date: September 19, 2019
    Inventors: William C. Nowlin, Mahdi Azizian, Simon P. DiMaio, Brian D. Hoffman, Anthony M. Jarc, Henry C. Lin, May Quo-Mei Liu, Ian E. McDowall, Brent Tokarchuk
  • Publication number: 20190209253
    Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to be coupled to a slave instrument. The ratcheting system is further configured to align the master grip with the slave instrument by determining a commanded angular velocity for the slave instrument based on a command from the master grip, determining a current alignment error between an alignment of the master grip and an alignment of the slave instrument, and altering the commanded angular velocity for the slave instrument based on the current alignment error. In some embodiments, the ratcheting system is further configured to introduce a control system error to alter the commanded angular velocity. In some embodiments, the current alignment error is a rotation angle error between the alignment of the master grip and the alignment of the slave instrument.
    Type: Application
    Filed: March 14, 2019
    Publication date: July 11, 2019
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz
  • Patent number: 10278783
    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
    Type: Grant
    Filed: September 18, 2017
    Date of Patent: May 7, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Gunter D. Niemeyer, David S. Mintz