Intuitive Surgical Operations, Inc.

United States of America

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2024 October 32
2024 September 37
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2024 July 19
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IPC Class
A61B 34/30 - Surgical robots 1,304
A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery 1,107
A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets 1,098
A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges 874
A61B 34/35 - Surgical robots for telesurgery 766
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10 - Medical apparatus and instruments 75
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1.

TORQUE COMPENSATION

      
Application Number 18765543
Status Pending
Filing Date 2024-07-08
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Weir, David W.
  • Wu, Melody
  • Brisson, Gabriel F.
  • Durant, Kevin
  • Duque, Grant

Abstract

Techniques for torque compensation include a system include actuating means coupled to a clamping means and processing means. The processing means is configured to acquire an initial torque limit for the clamping means; adjust the initial torque limit based on an angle of a wrist of the clamping means to obtain an adjusted torque limit; and drive, subject to the adjusted torque limit, the actuating means to cause the clamping means to clamp a material.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/08 - Wound clamps
  • A61B 17/10 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for applying or removing wound clamps; Wound clamp magazines
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 18/14 - Probes or electrodes therefor
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 34/37 - Master-slave robots
  • A61B 50/13 - Trolleys
  • A61B 50/33 - Trays
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 90/92 - Identification means for patients or instruments, e.g. tags coded with colour
  • A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
  • B25J 9/16 - Programme controls
  • G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers

2.

SYSTEM AND METHOD FOR MONITORING CONTROL POINTS DURING REACTIVE MOTION

      
Application Number 18765427
Status Pending
Filing Date 2024-07-08
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Griffiths, Paul G.
  • Itkowitz, Brandon D.
  • Lynch, Goran A.

Abstract

Techniques for monitoring a computer-assisted device include a plurality of manipulators, each manipulator being configured to support an instrument, each manipulator having a control point; and a control unit. The control unit is configured to: determine a first spatial configuration of the plurality of control points, the first spatial configuration being prior to a movement of a table separate from the computer-assisted device, and the movement of the table causing motion of at least one control point; determine the movement of the table; determine, based on the movement of the table and the first spatial configuration, an expected spatial configuration of the plurality of control points; determine, based on a comparison of the expected spatial configuration with an actual spatial configuration of the plurality of control points, whether to perform a remedial action; and perform the remedial action in response to a determination to perform the remedial action.

IPC Classes  ?

  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 34/32 - Surgical robots operating autonomously
  • A61B 34/37 - Master-slave robots

3.

SYSTEMS AND METHODS FOR SELECTIVELY RIGIDIZING A FLEXIBLE INSTRUMENT

      
Application Number 18647595
Status Pending
Filing Date 2024-04-26
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Joseph, Miles S.
  • Schena, Bruce M.

Abstract

A system may comprise a flexible delivery device including a tool channel extending therethrough and an elongated instrument configured to extend within the tool channel. The elongated instrument may include a flexible section and a rigidizable section. The system may also include a selective rigidization system at least partially extending within the elongated instrument and a sensor system configured to determine position information for the rigidizable section relative to a distal portion of the delivery device. The selective rigidization system, responsive to the position information, may be configured to transition a portion of the rigidizable section of the instrument from a bendable state to a rigid state.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/005 - Flexible endoscopes

4.

SYSTEM AND METHOD FOR ANATOMICAL MARKERS

      
Application Number 18771024
Status Pending
Filing Date 2024-07-12
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Azizian, Mahdi
  • Wagner, Oliver J.

Abstract

A system and method for anatomical markers includes an anatomical marker. The anatomical marker includes a first material observable to a first imaging modality and a second material observable to a second imaging modality. The first material is different from the second material. The first imaging modality is different from the second imaging modality. The first and second imaging modalities obtain their images without using light in a visible spectrum. In some embodiments, the anatomical marker further includes one or more superabsorbent polymers for absorbing and containing the one or more superabsorbent polymers. In some embodiments, the anatomical marker further includes a liquid or gel including the first and second materials, wherein the liquid or gel is configured to be applied to the anatomy of the patient. In some embodiments, the anatomical markers may be used to register a medical tool to anatomy of a patient.

IPC Classes  ?

  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
  • A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
  • A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
  • A61B 5/11 - Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
  • A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
  • A61B 6/02 - Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
  • A61B 6/12 - Devices for detecting or locating foreign bodies
  • A61B 6/50 - specially adapted for specific body parts; specially adapted for specific clinical applications

5.

SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING IN AN ARTICULATED ARM

      
Application Number 18765417
Status Pending
Filing Date 2024-07-08
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Miller, Daniel
  • Swarup, Nitish
  • Turner, Michael
  • Hourtash, Arjang M.
  • Griffiths, Paul G.
  • Mohr, Paul W.

Abstract

A system and method of breakaway clutching in a device includes a plurality of links coupled by a plurality of joints, a brake coupled to brake a first joint of the plurality of joints, and a control unit operatively coupled to the brake. The control unit includes 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 a determination that an external stimulus applied to the plurality of links or the plurality of joints meets at least a first criterion and switches the first joint from the second state to the first state in response to a speed associated with the first joint meeting at least a second criterion. The control unit causes more braking with the first brake in the first state than in the second state.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • B25J 9/16 - Programme controls
  • B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices

6.

SYSTEMS AND METHODS FOR AUTOMATIC GRIP ADJUSTMENT DURING ENERGY DELIVERY

      
Application Number 18767482
Status Pending
Filing Date 2024-07-09
First Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Ruszkowski, Angelica
  • Brisson, Gabriel F.
  • Gerbi, Craig R.
  • Hemphill, Jason
  • Nussbaum, Mathew
  • Ratia, Harsukhdeep Singh

Abstract

Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode. One or more control units are configured to operate the first and second jaws in a first mode subject to a first force or torque limit to grip a material; and in response to determining that the first and second jaws are being operated in the first mode, switch to operating the first and seconds jaw in a second mode before applying electrical or thermal energy to the material using the corresponding electrodes. The operating in the second mode is subject to a second force or torque limit, lower than the first force or torque limit, that can be applied by the first and second jaws to grip the material.

IPC Classes  ?

  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 18/08 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
  • A61B 18/14 - Probes or electrodes therefor

7.

ARTICULATION MECHANISM CONFIGURATIONS AND DRIVE SYSTEMS, AND RELATED DEVICES AND METHODS

      
Application Number US2024026139
Publication Number 2024/226694
Status In Force
Filing Date 2024-04-25
Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Waterbury, Andrew C.
  • Deyanov, Rumen
  • Lambrecht, Bram Gilbert Antoon

Abstract

A system for actuating an articulation mechanism can include a link extending along a longitudinal dimension from a proximal end portion to a distal end portion of the link. An articulation mechanism coupled to the distal end portion of the link is articulatable in pitch and yaw relative to the link. A first motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in pitch relative to the link, and a second motor can be housed at least partially in the link and operably coupled to transmit force to actuate the articulation mechanism to articulate in yaw relative to the link. The first motor and the second motor can be arranged consecutively along the longitudinal dimension such that the first motor is closer to the proximal end portion of the link than the second motor.

IPC Classes  ?

  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery

8.

ASSISTED POSITIONING OF A REPOSITIONABLE STRUCTURE

      
Application Number US2024026338
Publication Number 2024/226849
Status In Force
Filing Date 2024-04-25
Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Chtcheprov, Pavel
  • Mohr, Paul W.
  • Nissenbaum, Daniel W.
  • Pier, Trevor
  • Upadrasta, Prasad V.
  • Xu, Zhuoqun

Abstract

A system includes a base, a proximal repositionable structure supported by the base and a distal repositionable structure having a proximal portion supported by the proximal repositionable structure and a distal portion. An actuator system is configured to move the base, the proximal repositionable structure, and the distal repositionable structure. A control system is coupled to the actuator system and is configured to facilitate external repositioning of the distal portion that moves a control feature relative to the base frame, detect first repositioning and based on a first geometric parameter characterizing the control feature after the first repositioning, determine a first base movement of the base and a first structure movement of the proximal repositionable structure, wherein performing the first base movement and the first structure movement together moves a reference feature relative to the control feature, the reference feature fixed relative to a portion of the proximal repositionable structure.

IPC Classes  ?

9.

SYSTEM AND METHOD FOR CONTROLLED ULTRASONIC SEALING AND CUTTING

      
Application Number US2024025800
Publication Number 2024/226481
Status In Force
Filing Date 2024-04-23
Publication Date 2024-10-31
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Shah, Jignesh M.
  • Khalaji, Iman
  • Marion, Duane W.

Abstract

In various embodiments, a computer-assisted device comprising an end effector having a first jaw, a second jaw, and at least one transducer for delivering ultrasonic energy using at least one of the first jaw or the second jaw, and a processing system coupled to the end effector, the processing system being configured to control the first jaw and the second jaw to grasp a material, determine one or more first characteristics of the grasping, control a first energy delivered by the at least one transducer to seal the material based on the one or more first characteristics, and in response to completing sealing of the material, control at least a second energy delivered by the at least one transducer to cut the grasped material based on the one or more first characteristics.

IPC Classes  ?

  • A61B 17/32 - Surgical cutting instruments
  • A61B 18/14 - Probes or electrodes therefor
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body

10.

METHOD AND SYSTEM FOR OPERATING A SURGICAL INSTRUMENT

      
Application Number 18667785
Status Pending
Filing Date 2024-05-17
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Prisco, Giuseppe Maria
  • Curet, Myriam J.
  • Duindam, Vincent
  • Mohr, Catherine J.
  • Rogers, Theodore W.
  • Stoy, Katherine D.

Abstract

A system comprises a manually operated instrument, a reference fixture positioned in a fixed world reference frame, and a shape sensor coupled to the manually operated instrument. The shape sensor extends from the manually operated instrument to the reference fixture. The system further comprises a controller configured to receive, from the shape sensor, shape information for the manually operated instrument. The controller is further configured to determine a pose of the manually operated instrument in the fixed world reference frame based on the shape information for the manually operated instrument.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 17/24 - Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • G01B 11/24 - Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
  • G01D 5/353 - Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using optical means, i.e. using infrared, visible or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells influencing the transmission properties of an optical fibre
  • H04L 9/40 - Network security protocols
  • H04W 4/80 - Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
  • H04W 12/06 - Authentication
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 18/20 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser

11.

SYSTEMS AND METHODS FOR SIMULATING STRING MANIPULATION

      
Application Number 18684105
Status Pending
Filing Date 2022-08-17
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Ahn, Woojin
  • Chau, Joey

Abstract

A system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to identify, from a plurality of linked elements, a first linked element connected by a joint to a second linked element and determine a current relative rotation of the second linked element with respect to the first linked element. The system may also determine if an angle of rotation associated with the current relative rotation is greater than a predetermined elastic limit for the joint. If the angle of rotation is greater than the predetermined elastic limit, a current plastic quaternion that represents a current angular plastic deformation of the joint is determined.

IPC Classes  ?

  • G09B 9/00 - Simulators for teaching or training purposes
  • G06T 19/20 - Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts

12.

ULTRASOUND ELONGATE INSTRUMENT SYSTEMS AND METHODS

      
Application Number 18688637
Status Pending
Filing Date 2022-08-23
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Wong, Serena H.
  • Barbagli, Federico
  • Raybin, Samuel

Abstract

A system may include an elongate flexible device, a flexible instrument, and a processor. The elongate flexible device may include a first shape sensor configured to generate first shape data corresponding to a shape of the elongate flexible device. The flexible instrument may include a second shape sensor configured to generate second shape data corresponding to a shape of the flexible instrument. The processor may be configured to register the flexible instrument to the elongate flexible device based on the first shape data and the second shape data. The first shape data and the second shape data may be generated while the flexible instrument is mated with the elongate flexible device.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 8/08 - Detecting organic movements or changes, e.g. tumours, cysts, swellings
  • A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters

13.

MEDICAL INSTRUMENT WRIST WITH CABLE ROUTING

      
Application Number US2024024972
Publication Number 2024/220525
Status In Force
Filing Date 2024-04-17
Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Lieb, Thad
  • Nelson, Erik

Abstract

A medical device includes a proximal link, a distal link, a tool member, and at least one tension element. The proximal and distal links each include an arcuate link contact surface and an outer guide surface. The distal link rotates relative to the proximal link about a distal link rotation axis or a proximal link rotation axis throughout a rotation range. The arcuate link contact surfaces are in rolling contact throughout the rotation range. The tension element is coupled to the tool member and extends from the tool member and contacts the outer guide surfaces of the proximal and distal links. The proximal link outer guide surface is at a spaced distance from the proximal link rotation axis and the proximal link contact surface defines a radius of curvature that is substantially equal to the spaced distance of the proximal link outer guide surface from the proximal link rotation axis.

IPC Classes  ?

  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots

14.

SYSTEMS AND METHODS FOR GENERATING IMAGES OF A SELECTED IMAGING PLANE USING A FORWARD-FACING IMAGING ARRAY

      
Application Number 18641035
Status Pending
Filing Date 2024-04-19
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Wong, Serena H.
  • Raybin, Samuel

Abstract

A system may comprise an elongate flexible instrument including an imaging device disposed at a distal end portion of the elongate flexible instrument. The imaging device may include a multi-directional imaging array. The elongate flexible instrument may also include a localization sensor extending within the elongate flexible instrument. The system may also comprise a controller comprising one or more processors configured to register the localization sensor to a patient anatomy and receive orientation data for the distal end portion of the elongate flexible instrument from the localization sensor. Based on the orientation data, an imaging plane of the imaging device may be selected. An image in the selected imaging plane may be displayed. The image may be generated by imaging data from the multi-directional imaging array of the imaging device.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor

15.

SYSTEMS AND METHODS FOR THREE-DIMENSIONAL IMAGING

      
Application Number 18641144
Status Pending
Filing Date 2024-04-19
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Schlesinger, Randall L.
  • Wong, Serena H.

Abstract

A system may comprise an elongate flexible instrument including an imaging device and a localization sensor. The system may capture a first 2D image with the imaging device in a first imaging configuration and receive first localization data for the distal portion of the elongate flexible instrument from the localization sensor while the imaging device is in the first imaging configuration. The system may also create a first image data set including the first localization data and the first 2D image, capture a second 2D image with the imaging device in a second imaging configuration, and receive second localization data for the distal portion while the imaging device is in the second imaging configuration. The system may also create a second image data set including the second localization data and the second 2D image and generate a 3D image based on a plurality of image data sets.

IPC Classes  ?

  • A61B 8/08 - Detecting organic movements or changes, e.g. tumours, cysts, swellings
  • A61B 8/00 - Diagnosis using ultrasonic, sonic or infrasonic waves
  • A61B 8/12 - Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

16.

HARD STOP PROTECTION SYSTEM AND METHOD

      
Application Number 18649939
Status Pending
Filing Date 2024-04-29
First Publication Date 2024-10-24
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Hourtash, Arjang
  • Lynch, Goran

Abstract

Disclosed herein are apparatus and method for resisting external articulation of one or more joints of a manipulator assembly when the joints are approaching mechanical limits. For example, an articulable system may include a joint mechanism, an actuator coupled to the joint mechanism, a sensor system for sensing a joint state and a controller. The controller can operate the articulable system in an external articulation facilitation mode. The controller can command the actuator to resist movement of the joint in response to the joint state indicating the joint is moving toward a mechanical limit location with a joint velocity meeting a first velocity criterion. The controller can also command the actuator resist movement of the joint at a second joint position when the joint velocity meets a second criterion.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/37 - Master-slave robots
  • B25J 9/00 - Programme-controlled manipulators
  • B25J 9/16 - Programme controls

17.

SELECTIVE USE OF DIFFERENT VIDEO STREAMS GENERATED BY AN IMAGING DEVICE TO PERFORM AN IMAGE-BASED OPERATION

      
Application Number 18685892
Status Pending
Filing Date 2022-09-02
First Publication Date 2024-10-24
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Allan, Maximilian H.
  • Azizian, Mahdi
  • Kurmann, Thomas

Abstract

An illustrative image processing system is configured to apply. as an input to a processing module. a first video stream generated by an imaging device during a medical procedure. The processing module is configured to generate. based on the input. output data used to perform an image-based operation associated with the medical procedure. The image processing system is further configured to detect, while the first video stream is being applied to the processing module. a deficiency associated with the first video stream and apply. as the input to the processing module and based on the detecting of the deficiency. a second video stream generated by the imaging device during the medical procedure.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/12 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements

18.

SURGICAL INSTRUMENT WITH LINEAR AND PURSE STRING SUTURE STAPLES

      
Application Number 18271432
Status Pending
Filing Date 2021-12-28
First Publication Date 2024-10-24
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Yee, Kristopher
  • Cooper, Emily
  • Corbet, Heath
  • Godin, Charles
  • Millman, Paul

Abstract

A surgical stapling instrument is configured to dissect tissue, apply a linear staple line along one side of the tissue dissection and apply a suture, such as a purse string suture, to the other side of the tissue dissection. The instrument comprises an elongate shaft, first and second jaws configured to open and close and a cutting element. The instrument includes a first row of staples in each of the first and second jaws having a suture extending therethrough and a second row of staples in the second jaw. A drive member is configured to translate distally through the end effector to dissect tissue with the cutting element, drive the second row of staples into the tissue on one side of the dissection and to apply the first row of staples and suture in combination to form a purse string suture on the other side of the tissue dissection.

IPC Classes  ?

  • A61B 17/115 - Staplers
  • A61B 17/11 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for performing anastomosis; Buttons for anastomosis
  • A61B 17/3209 - Incision instruments

19.

SYSTEMS AND METHODS FOR DEPTH-BASED MEASUREMENT IN A THREE-DIMENSIONAL VIEW

      
Application Number 18294975
Status Pending
Filing Date 2022-08-09
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Shirazian, Pourya
  • Proksch, Daniel

Abstract

A system may comprise a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive endoscope calibration data, generate a virtual camera based on the calibration data, generate an endoscopic image, receive first and second marked points in the endoscopic image, and determine if a three-dimensional surface model has been generated. If a surface model has been generated, a perturbation in the virtual camera is generated. A curvilinear segment on the surface model may be generated between the first and second marked points and a mixed reality image, including the curvilinear segment and the endoscopic image, may be generated.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • G06T 15/20 - Perspective computation
  • G06T 17/20 - Wire-frame description, e.g. polygonalisation or tessellation
  • G06T 19/00 - Manipulating 3D models or images for computer graphics

20.

GUIDE APPARATUS FOR DELIVERY OF AN ELONGATE DEVICE AND METHODS OF USE

      
Application Number 18584874
Status Pending
Filing Date 2024-02-22
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Inouye, Matthew D.
  • Bailey, David W.
  • Blumenkranz, Stephen J.
  • Rohr Daniel, Matthew D.

Abstract

An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis. Each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal axis as the variable length assembly transitions from the expanded configuration to the compressed configuration.

IPC Classes  ?

  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

21.

ELECTRICALLY CONDUCTIVE REDUCER DEVICE, RELATED SYSTEMS, AND RELATED METHODS

      
Application Number 18638116
Status Pending
Filing Date 2024-04-17
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Morrissette, Tyler
  • Krom, Justin
  • Orban, Iii, Joseph

Abstract

A method of making a reducer device for a cannula comprising forming a tubular member having a proximal end opening, a distal end opening, and an interior passage extending between the proximal end opening and the distal end opening; forming a protrusion extending radially outwardly from an exterior surface of the tubular member; and coupling an electrically conductive structure to the tubular member such that the electrically conductive structure forms an electrically conductive pathway that extends from the interior passage to an exterior of the tubular member.

IPC Classes  ?

  • A61B 17/34 - Trocars; Puncturing needles
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61M 13/00 - Insufflators for therapeutic or disinfectant purposes

22.

LOW-FRICTION MEDICAL TOOLS HAVING ROLLER-ASSISTED TENSION MEMBERS

      
Application Number 18640575
Status Pending
Filing Date 2024-04-19
First Publication Date 2024-10-17
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor Sadaka, Alain

Abstract

A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • B25J 15/02 - Gripping heads servo-actuated
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 17/32 - Surgical cutting instruments
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 34/35 - Surgical robots for telesurgery

23.

PASSIVE PRELOAD AND CAPSTAN DRIVE FOR SURGICAL INSTRUMENTS

      
Application Number 18674086
Status Pending
Filing Date 2024-05-24
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Prisco, Giuseppe Maria

Abstract

A system comprises a medical instrument including a rotatable capstan. The rotatable capstan includes a first coupling feature and a drive system including a rotatable drive element. The rotatable drive element includes a second coupling feature. The first and second coupling features have an aligned engagement configuration in which rotation of the rotatable drive element induces rotation of the rotatable capstan and a non-aligned engagement configuration in which rotation of the rotatable drive element does not induce rotation of the rotatable capstan.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/37 - Master-slave robots
  • B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements

24.

SURGICAL INSTRUMENT SHEARS

      
Application Number 18683672
Status Pending
Filing Date 2022-08-16
First Publication Date 2024-10-17
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Floyd, Paul
  • Nelson, Erik
  • Wixey, Matthew

Abstract

A medical device includes a blade support, a blade supported by the blade support, and a pin. The blade support includes a bore with an inner portion oriented toward the blade and an outer portion oriented away from the blade. A discontinuity is located at a boundary between the inner and outer portions of the bore. The pin includes a longitudinal axis and a yaw plane is defined perpendicular to the longitudinal axis. A rotational yaw degree of freedom is defined about the longitudinal axis of the pin. The blade support is operable to rotate about the pin in the yaw degree of freedom, contact the pin at the discontinuity of the bore, and tilts away from the yaw plane at the discontinuity of the bore in response to a force applied in a lateral direction.

IPC Classes  ?

25.

ENDOSCOPIC PURSE STRING SUTURE SURGICAL DEVICE

      
Application Number 18737262
Status Pending
Filing Date 2024-06-24
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Millman, Paul
  • Burbank, William
  • Frankel, Nina
  • Wexner, Steven D.

Abstract

A surgical stapler for applying a suture to tissue includes a first jaw and a second jaw configured to receive a cartridge. An actuation mechanism translates a drive member distally through the first and second jaws to apply staples to tissue such that a suture, in combination with the staples, forms a purse string when the stapler activated. The cartridge includes a first upper portion and a second lower portion.

IPC Classes  ?

  • A61B 17/115 - Staplers
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/11 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for performing anastomosis; Buttons for anastomosis
  • A61B 34/37 - Master-slave robots

26.

TOUCHSCREEN USER INTERFACE FOR INTERACTING WITH A VIRTUAL MODEL

      
Application Number 18754930
Status Pending
Filing Date 2024-06-26
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Liu, Wen Pei
  • Chan, Wendy

Abstract

A method comprises accessing a three-dimensional (3D) model of an object with a visualization tool including a touchscreen. The 3D model comprises a plurality of components. The method further comprises displaying an image of a subset of the components. The subset of the components includes each one of the components of the 3D model with a transparency of less than 100%. The method further comprises detecting a first contact based input at the touchscreen and displaying a first icon on the touchscreen. The first icon represents a location on the touchscreen of the first contact based input. The method further comprises detecting movement of the first contact based input along the touchscreen with the first icon tracking the movement of the first contact based input. The method further comprises responsive to the detected movement, rotating the subset of the components about a center of rotation.

IPC Classes  ?

  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • G06F 3/041 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
  • G06F 3/04842 - Selection of displayed objects or displayed text elements
  • G06F 3/0488 - Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures

27.

ENTRY GUIDE FOR MULTIPLE INSTRUMENTS IN A SINGLE PORT SURGICAL SYSTEM

      
Application Number 18639824
Status Pending
Filing Date 2024-04-18
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Cooper, Thomas G.
  • Gomez, Daniel H.
  • Lilagan, Paul E.
  • Mcgrogan, Anthony K.
  • Prisco, Giuseppe Maria

Abstract

A surgical access port comprises a cannula comprising a proximal portion and a distal portion comprising a flexible section. The access port further comprises an instrument guide configured to be positioned within the cannula. The instrument guide comprises a proximal end, a distal end, and a plurality of instrument guide channels between the proximal and distal ends of the instrument guide. Each instrument guide channel of the plurality of instrument guide channels defines a corresponding guide channel opening. An outside surface of the instrument guide fits closely to an inner wall surface of the cannula when the instrument guide is within the cannula. A guide channel opening of a first instrument guide channel of the plurality of instrument guide channels is open to the outside surface of the instrument guide.

IPC Classes  ?

  • A61B 17/34 - Trocars; Puncturing needles
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/30 - Surgical robots
  • A61B 90/11 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints

28.

SYSTEMS AND METHODS FOR HOLDING A FLEXIBLE ELONGATE DEVICE IN A POSE

      
Application Number 18656922
Status Pending
Filing Date 2024-05-07
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Bogusky, Joseph D.
  • Schlesinger, Randall L.

Abstract

A medical system may comprise a flexible elongate device including a flexible body with proximal and distal ends and at least one lumen. The flexible elongate device may also include a support structure coupled with the flexible body. The support structure may include a plurality of sub-elements arranged in series. At least a portion of the sub-elements are configured to spread apart when the flexible body flexes into a pose. The flexible elongate device may also include a stiffening mechanism having at least one stiffening element extending along at least a portion of the flexible body and configured for actuation independent of the support structure. After the flexible body has flexed into the pose, actuation of the stiffening element stiffens the support structure to hold at least a portion of the pose of the flexible body. The stiffening element includes a compression feature to engage the support structure.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/005 - Flexible endoscopes
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/35 - Surgical robots for telesurgery
  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

29.

JOINT ASSEMBLIES WITH CROSS-AXIS FLEXURAL PIVOTS

      
Application Number 18750698
Status Pending
Filing Date 2024-06-21
First Publication Date 2024-10-17
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Dearden, Jason
  • Grames, Clayton
  • Howell, Larry L.
  • Jensen, Brian D.
  • Magleby, Spencer P.

Abstract

The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to the second connection portion. The flexure is configured to deform elastically when the first joint member and the second joint member move from a first configuration to a second configuration. When in the first configuration, the central portion of the flexure is spaced apart from the contact portion. When in the second configuration, the central portion of the flexure contacting the contact portion.

IPC Classes  ?

  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/30 - Surgical robots
  • B25J 15/02 - Gripping heads servo-actuated
  • F16C 11/12 - Pivotal connections incorporating flexible connections, e.g. leaf springs

30.

ENDOSCOPE CONTROL SYSTEM

      
Application Number 18583616
Status Pending
Filing Date 2024-02-21
First Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Herzlinger, Peter M.
  • Payyavula, Govinda
  • Miller, Brian E.

Abstract

An endoscope system includes an endoscope, a display, one or more sensors, and a control system. The display is configured to display image content captured by the endoscope. The one or more sensors are located in a headrest and configured to detect an input at the headrest. The control system is configured to receive one or more sensor signals from the one or more sensors and adjust the image content displayed by the display in response to the one or more sensor signals. The one or more sensor signals indicate movement of the headrest with respect to a support on which the headrest is mounted or pressure applied to the headrest

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/30 - Surgical robots
  • A61B 34/37 - Master-slave robots
  • G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F 3/0338 - Pointing devices displaced or positioned by the user; Accessories therefor with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
  • G06F 3/041 - Digitisers, e.g. for touch screens or touch pads, characterised by the transducing means
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
  • A61B 90/60 - Supports for surgeons, e.g. chairs or hand supports
  • G06F 3/0485 - Scrolling or panning

31.

SURGICAL STAPLING INSTRUMENTS AND CONTROL SYSTEMS FOR SUCH INSTRUMENTS

      
Application Number US2024023816
Publication Number 2024/215716
Status In Force
Filing Date 2024-04-10
Publication Date 2024-10-17
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Wixey, Matthew

Abstract

Surgical stapling instruments and control systems for use with those instruments are provided herein. A surgical stapling instrument comprises an elongate shaft and an end effector with an anvil on a first jaw and a staple cartridge coupled to a second jaw. The instrument further includes a first coupler for adjusting a distance between the distal ends of the anvil and the cartridge and a second coupler for adjusting a distance between the proximal ends of the anvil and the cartridge. This allows the user to independently adjust these distances or gaps to account for variations in tissue thickness across the length of the jaws. The instruments and control systems are particularly useful for dissecting and stapling a relatively long length of tissue, such as the stomach or the lung in sleeve gastrectomy and lung resection procedures.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 34/30 - Surgical robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

32.

SURGICAL INSTRUMENT WITH LOCKOUT MECHANISM

      
Application Number 18747654
Status Pending
Filing Date 2024-06-19
First Publication Date 2024-10-10
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Patel, Atal C.
  • Wixey, Matthew Aaron

Abstract

Locking assemblies for surgical clamping and cutting instruments include a locking member and a switch. A drive member may be configured to releasably engage a knife and/or a shuttle of the surgical instrument for translating the knife and/or shuttle in a distal direction through a firing stroke. The locking member is movable from a first position permitting distal translation of the drive member through the firing stroke, and a second position inhibiting distal translation of the drive member through the firing stroke. A switch, when proximally positioned, releasably engages the locking member to maintain the locking member in the first position. The switch disengages from the locking member when the switch is moved to a distal position.

IPC Classes  ?

  • A61B 17/068 - Surgical staplers
  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action

33.

AUTOMATED DETERMINATION OF DEPLOYMENT SETTINGS FOR A COMPUTER-ASSISTED SYSTEM

      
Application Number US2024023220
Publication Number 2024/211671
Status In Force
Filing Date 2024-04-05
Publication Date 2024-10-10
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Parrish, Russell
  • Ganapathy, Pratap
  • Garibaldi, Mark
  • Gotsill, Craig
  • Haugerud, Helene
  • Lockwood, Ross
  • Rabindran, Dinesh
  • Sum, Kelli
  • Upadrasta, Prasad V.

Abstract

A computer-assisted device includes a repositionable structure and a processing system. The processing system is configured to perform the steps of determining a location of the repositionable structure relative to a patient on an operating support; determining an imaging device orientation of an imaging device relative to the patient; determining a deployment for the repositionable structure based on the imaging device orientation and the location of the repositionable structure relative to the patient; and causing one or more instructions for configuring the repositionable structure to be displayed.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

34.

CONVOLUTIONAL NEURAL NETWORKS FOR EFFICIENT TISSUE SEGMENTATION

      
Application Number 18748918
Status Pending
Filing Date 2024-06-20
First Publication Date 2024-10-10
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Hoffman, Brian D.
  • Richmond, Geoffrey A.
  • Sen, Siddarth

Abstract

An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

IPC Classes  ?

  • G06F 18/20 - Analysing
  • G06F 18/21 - Design or setup of recognition systems or techniques; Extraction of features in feature space; Blind source separation
  • G06F 18/214 - Generating training patterns; Bootstrap methods, e.g. bagging or boosting
  • G06F 18/24 - Classification techniques
  • G06N 3/04 - Architecture, e.g. interconnection topology
  • G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks

35.

TECHNIQUES FOR ADJUSTING A FIELD OF VIEW OF AN IMAGING DEVICE BASED ON HEAD MOTION OF AN OPERATOR

      
Application Number 18294116
Status Pending
Filing Date 2022-08-02
First Publication Date 2024-10-10
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Miller, Daniel G.
  • Mcdowall, Ian E.
  • Steger, John Ryan
  • Burkhard, Natalie

Abstract

Techniques are disclosed for imaging device control in a viewing system that includes a repositionable structure configured to support an imaging device, and a control unit communicably coupled to the repositionable structure. The control unit is configured to receive head motion signals indicative of a head motion of a head of an operator relative to a reference, and in response to determining that the head motion signals indicate that the head motion does not exceed a threshold amount in a direction, cause a field of view of the imaging device to be adjusted in accordance with a commanded motion by commanding movement of at least one of the repositionable structure or the imaging device, where the commanded motion is determined based on the head motion.

IPC Classes  ?

  • A61B 34/37 - Master-slave robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

36.

SYSTEM AND METHOD TO RECOMMEND TOOL SET FOR A ROBOTIC SURGICAL PROCEDURE

      
Application Number 18617512
Status Pending
Filing Date 2024-03-26
First Publication Date 2024-10-03
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Shaw, Ryan W.
  • Fridlin, Joseph M.

Abstract

A computer-implemented method is provided to receive skill data and patient data, the skill data indicative of a skill level associated with a surgeon, and the patient data corresponding to a patient, determine, using a model trained with machine learning and receiving as input the skill data and the patient data, tool data indicative of a recommended tool, and cause, based on the tool data, an indication to be presented to a user to install the recommended tool onto the computer-assisted robotic system.

IPC Classes  ?

  • G16H 40/63 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation

37.

SYSTEMS AND METHODS FOR PROVIDING NAVIGATION GUIDANCE FOR AN ELONGATE DEVICE

      
Application Number US2024021851
Publication Number 2024/206553
Status In Force
Filing Date 2024-03-28
Publication Date 2024-10-03
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Zhang, Hui
  • Adebar, Troy, K.
  • Barbagli, Federico
  • Bhatt, Ruchi, C.
  • Wagner, Oliver, J.

Abstract

A system comprises a display system and a control system communicatively coupled to the display system. The control system is configured to display, in a graphical user interface (GUI) on the display system, one or more of: preoperative image data of a patient anatomy; or intraoperative image data of the patient anatomy received from an external imaging system. The control system is further configured to register the intraoperative image data to the preoperative image data. The control system is further configured to, based on the registration, transfer imaging information between a reference frame of the intraoperative image data and a reference frame of the preoperative image data. The control system is further configured to, based on the imaging information, provide navigation guidance to guide an elongate device to a target location in the patient anatomy.

IPC Classes  ?

  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

38.

SYSTEMS AND METHODS FOR CONTROLLING TOOL WITH ARTICULATABLE DISTAL PORTION

      
Application Number 18642545
Status Pending
Filing Date 2024-04-22
First Publication Date 2024-10-03
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Robinson, David W.

Abstract

A system comprises a medical tool including a shaft having proximal and distal ends and an articulatable distal portion coupled to the distal end of the shaft. The system also comprises a processing unit including one or more processors. The processing unit is configured to determine a target in a medical environment. The articulatable distal portion is directed toward the target. The processing unit is also configured to determine a motion of at least a portion of the shaft, and in response to the determined motion, control a pose of the articulatable distal portion so that the articulatable distal portion remains directed toward the target.

IPC Classes  ?

  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis

39.

MEDICAL INSTRUMENT GUIDANCE SYSTEMS, INCLUDING GUIDANCE SYSTEMS FOR PERCUTANEOUS NEPHROLITHOTOMY PROCEDURES, AND ASSOCIATED DEVICES AND METHODS

      
Application Number 18699388
Status Pending
Filing Date 2022-10-06
First Publication Date 2024-10-03
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Wong, Serena H.
  • Moller, Zachary
  • Jensen, Gavin
  • Mustufa, Tabish

Abstract

Medical instrument guidance systems and associated devices and methods are disclosed herein. In some embodiments, a method for providing guidance for percutaneous access to a target within an anatomic structure, includes receiving point cloud data from a sensor system coupled to an internal instrument as the internal instrument is moved within the anatomic structure; generating a 3D model of the anatomic structure based at least in part on the point cloud data; and receiving information for identifying a substructure within the 3D anatomic model. The substructure can provide access to the target. The method can further include determining an entry to the substructure; determining an approach path through the entry; and providing a graphical representation of the approach path.

IPC Classes  ?

  • A61B 1/307 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the urinary organs, e.g. urethroscopes, cystoscopes
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations

40.

SYSTEMS AND INTERFACES FOR COMPUTER-BASED INTERNAL BODY STRUCTURE ASSESSMENT

      
Application Number 18703590
Status Pending
Filing Date 2022-10-24
First Publication Date 2024-10-03
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Bouhnik, Moshe
  • Bongalon, Benjamin T.
  • Muhlethaler, Emmanuelle
  • Posner, Erez
  • Shibolet, Roee
  • Tamhane, Aniruddha
  • Zholkover, Adi

Abstract

Various of the disclosed embodiments relate to systems and methods for determining and for presenting surgical examination data of an internal body structure, such as a large intestine. For example, various of the disclosed methods may create a three-dimensional computer model using the examination data and then coordinate playback of the examination data based upon the reviewer's interaction with the model. In some embodiments, the model's rendering may be adjusted to reflect various aspects of the examination, including scoring metrics, identified landmarks, and lacunae in the surgical examination review.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/31 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

41.

INSERTABLE TOOL IDENTIFICATION FOR FLEXIBLE ELONGATE DEVICES

      
Application Number US2024021404
Publication Number 2024/206262
Status In Force
Filing Date 2024-03-26
Publication Date 2024-10-03
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Liu, Shibing
  • Schorr, Samuel
  • Kim, Sang Gyum

Abstract

Medical systems and methods include a flexible elongate device having an articulable body portion and a lumen extending therethrough. A control system utilizes data from one or more sensors to identify a tool inserted into a lumen of the flexible elongate device.

IPC Classes  ?

  • A61B 1/018 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments

42.

ELONGATE INSTRUMENT AND ELONGATE INSTRUMENT GUARD MEMBER COMPATIBILITY

      
Application Number 18733281
Status Pending
Filing Date 2024-06-04
First Publication Date 2024-09-26
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Valencia, Hans F.
  • Fernandez, Iv, Peter
  • Gordon, Lucas S.

Abstract

A medical tool may comprise a sheath and an elongate instrument. The sheath may comprise a tubular shaft member including a sheath channel and a guard member coupled to a distal portion of the tubular shaft member. The guard member may comprise a rigid distal section and a flexible proximal section that is more flexible than the rigid distal section. The elongate instrument may be sized for passage within the sheath channel. The elongate instrument may comprise a flexible tubular section and a rigid tip extending from a distal portion of the flexible tubular section.

IPC Classes  ?

  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
  • A61M 25/00 - Catheters; Hollow probes
  • A61M 25/06 - Body-piercing guide needles or the like

43.

STAPLER CARTRIDGE ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS

      
Application Number 18734658
Status Pending
Filing Date 2024-06-05
First Publication Date 2024-09-26
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • De Maillé, Austin
  • Blanco, Jorge Alberto Treviño
  • Hubler, Robert
  • Jasemian, Babak D.
  • Patel, Atal

Abstract

A method of installing a stapler reload cartridge in a stapler instrument includes removing a cover from a side of a stapler reload cartridge housing a plurality of staples, the side having a plurality of pusher apertures configured to receive staple pushers during loading of the stapler reload cartridge; after removing the cover, installing the stapler reload cartridge in the stapler instrument by placing the stapler reload cartridge in a jaw of the stapler instrument such that the side having the plurality of pusher apertures faces the jaw; and after installing the stapler reload cartridge in the stapler instrument, removing a staple retainer from a staple ejection side of the stapler reload cartridge, the staple ejection side comprising a plurality of staple apertures configured to eject staples from the stapler reload cartridge.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets

44.

MEDICAL IMAGING SYSTEMS AND METHODS

      
Application Number 18680295
Status Pending
Filing Date 2024-05-31
First Publication Date 2024-09-26
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Stith, Curtis W.
  • Dicarlo, Jeffrey M.
  • Liu, Changmeng

Abstract

An illustrative system includes an image sensor comprising a first pixel, a second pixel, a third pixel, and a fourth pixel. The system further includes a pixel-level broadband infrared cutoff filter that covers the second pixel and that is configured to prevent the second pixel from collecting infrared light having wavelengths included in a first range of wavelengths. The first, third, and fourth pixels are not covered by pixel-level broadband infrared cutoff filters configured to prevent the first, third, and fourth pixels from collecting infrared light having wavelengths included in the first range of wavelengths.

IPC Classes  ?

  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
  • A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
  • A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements

45.

BACKEND MECHANISM OF A CATHETER CONTROL SYSTEM

      
Application Number 18732110
Status Pending
Filing Date 2024-06-03
First Publication Date 2024-09-26
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Blumenkranz, Stephen J.

Abstract

A backend mechanism of a control system for a steerable elongated medical instrument includes a plurality of drive components and steering components arranged to provide a compact, reliable, steering control to the elongated medical instrument.

IPC Classes  ?

  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/37 - Master-slave robots

46.

SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION

      
Application Number 18732286
Status Pending
Filing Date 2024-06-03
First Publication Date 2024-09-26
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Griffiths, Paul G.
  • Swarup, Nitish
  • Ziaei, Kamyar

Abstract

A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

IPC Classes  ?

47.

SURGICAL INSTRUMENTS HAVING A JAW LOCKING MECHANISM

      
Application Number 18735972
Status Pending
Filing Date 2024-06-06
First Publication Date 2024-09-26
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Whitlock, Michael Steven
  • Burbank, William A.
  • Manzo, Scott Eugene

Abstract

A surgical instrument having a jaw lock includes first jaw and second jaws that are moveable from an open position to a closed position. At least one of the jaws includes a jaw slot having a jaw closing portion and a jaw locking portion. A pin positioned within the jaw slot is advanced by a blade. The blade includes a cutting edge and a notch defining a first edge configured to advance the pin to move the jaws to, and secure the jaws in, the closed position.

IPC Classes  ?

  • A61B 18/14 - Probes or electrodes therefor
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 34/30 - Surgical robots

48.

MULTI-CABLE MEDICAL INSTRUMENT

      
Application Number 18591811
Status Pending
Filing Date 2024-02-29
First Publication Date 2024-09-26
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Lambrecht, Bram Gilbert Antoon
  • Anderson, S. Christopher
  • Johnson, Ladd T.

Abstract

A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 34/30 - Surgical robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

49.

DEFLECTABLE SENSING INSTRUMENT SYSTEMS AND METHODS

      
Application Number 18611485
Status Pending
Filing Date 2024-03-20
First Publication Date 2024-09-26
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Gordon, Lucas S.
  • Bogusky, Joseph D.
  • Raybin, Samuel
  • Wong, Serena H.

Abstract

A system may comprise a sensing instrument including an elongate flexible member with a channel extending therein. The elongate flexible member may include a proximal portion, a distal portion, and a flexure portion between the distal and proximal portions. The sensing instrument may also include a flexure at the flexure portion of the elongate flexible member, a sensing element coupled at the distal portion of the elongate flexible member, and a flexure control apparatus extending within the elongate flexible member and configured to bend the flexure to change an orientation of the sensing element relative to the proximal portion of the elongate flexible member. The sensing instrument may also include an exit port in the proximal portion of the elongate flexible member.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 10/04 - Endoscopic instruments
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 18/14 - Probes or electrodes therefor
  • A61B 34/30 - Surgical robots
  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters
  • A61M 25/06 - Body-piercing guide needles or the like

50.

END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER

      
Application Number 18618701
Status Pending
Filing Date 2024-03-27
First Publication Date 2024-09-19
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor Kadokura, Grant M.

Abstract

A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.

IPC Classes  ?

  • A61B 34/37 - Master-slave robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery

51.

SYSTEMS AND METHODS FOR SEGMENTATION OF ANATOMICAL STRUCTURES FOR IMAGE-GUIDED SURGERY

      
Application Number 18674438
Status Pending
Filing Date 2024-05-24
First Publication Date 2024-09-19
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Li, Junning
  • Lo, Pechin Chien Pau
  • Taha, Ahmed
  • Zhao, Tao

Abstract

A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network.

IPC Classes  ?

  • G06T 7/00 - Image analysis
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • G06T 7/12 - Edge-based segmentation

52.

SYSTEMS AND METHODS FOR CONTROL OF STEERABLE DEVICES

      
Application Number 18671140
Status Pending
Filing Date 2024-05-22
First Publication Date 2024-09-19
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Diolaiti, Nicola

Abstract

A method comprises monitoring movement of an elongate device and receiving user input commanding motion of the elongate device. The method also comprises determining a mode of operation based on at least one of the monitored movement or the received user input and adjusting a property of the elongate device based on a profile associated with the mode of operation. Adjusting the property of the elongate device includes maintaining the property of the elongate device substantially the same during a first interval, reducing a rigidity of the elongate device at a first rate during a second interval and reducing the rigidity of the elongate device at a second rate, different from the first rate, during a third interval.

IPC Classes  ?

  • B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/37 - Master-slave robots
  • G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme

53.

INCREASED USABLE INSTRUMENT LIFE IN TELESURGICAL SYSTEMS

      
Application Number 18674291
Status Pending
Filing Date 2024-05-24
First Publication Date 2024-09-19
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Rosa, David J.

Abstract

A surgical instrument may comprise an actuation component and a memory. The memory may be configured to store a remaining usable life value of the surgical instrument and receive an updated usable life value of the surgical instrument after a use of the actuation component. The updated usable life value may be based at least on an amount of use of the surgical instrument. The memory may also be configured to store the updated usable life value.

IPC Classes  ?

  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 34/37 - Master-slave robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

54.

LAYERED FUNCTIONALITY FOR A USER INPUT MECHANISM IN A COMPUTER-ASSISTED SURGICAL SYSTEM

      
Application Number 18675783
Status Pending
Filing Date 2024-05-28
First Publication Date 2024-09-19
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Bedard, Adrian N.

Abstract

A computer-assisted surgical system is configured to activate a first mode of operation in which movement of a user control mechanism is translated to movement of a surgical instrument coupled to a manipulator arm; receive, during the first mode of operation, a first user input by way of a user input mechanism associated with the user control mechanism; activate, based on the first user input, a second mode of operation in which the user control mechanism is repositionable without causing the surgical instrument to move; receive, during the first mode of operation, a second user input by way of the user input mechanism, wherein the second user input is different from the first user input; and activate, based on the second user input, a function associated with a third mode of operation different from the first and second modes of operation.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G06F 3/01 - Input arrangements or combined input and output arrangements for interaction between user and computer

55.

SYSTEMS AND METHODS FOR MILESTONE DETECTION WITH A SPATIAL CONTEXT

      
Application Number US2024019554
Publication Number 2024/192012
Status In Force
Filing Date 2024-03-12
Publication Date 2024-09-19
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Guo, Rui
  • Perreault, Conor
  • Liu, Xi
  • Mueller, Benjamin
  • Kulason, Sue
  • Wang, Ziheng
  • Jarc, Anthony M.

Abstract

A method for detecting procedure milestone events with a spatial context may comprise receiving a video input including a plurality of video frame images of a procedure and analyzing the video input using a neural network model that includes a multi-head attention mechanism. The method may also include generating, with a spatial context head of the multi-head attention mechanism, a spatial context indicator for at least a portion of the plurality of video frame images. The method may also include generating, with a classification head of the multi-head attention mechanism, a milestone indicator for at least one of the plurality of video frame images of the plurality of video frame images and generating a procedure evaluation output that includes the milestone indicator and the spatial context indicator.

IPC Classes  ?

  • G06V 20/40 - Scenes; Scene-specific elements in video content
  • G06T 7/00 - Image analysis
  • G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

56.

MEDICAL GAS DUCTS FOR MEDICAL GAS EVACUATION DEVICES AND RELATED SYSTEMS AND METHODS

      
Application Number 18254674
Status Pending
Filing Date 2021-11-29
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Chow, Humphrey W.
  • Klett, Adam
  • Oshatz, Daryl
  • Zabinski, John W.

Abstract

A medical system can include a medical gas duct comprising a first end, a second end opposite the first end, a first opening at the first end of the duct, and a second opening at the second end of the duct. The first opening can be positioned to receive medical gas exiting an exhaust port of a medical gas evacuation unit. On the condition a medical suction supply provides a suction at the second opening of the duct, medical gas exiting the exhaust port of the medical gas evacuation unit flows into the first opening of the duct. Devices, systems, and methods relate to evacuating medical gasses.

IPC Classes  ?

  • A61M 13/00 - Insufflators for therapeutic or disinfectant purposes
  • A61M 1/00 - Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems

57.

STAPLER RELOAD ASSEMBLIES AND RELATED DEVICES, SYSTEMS, AND METHODS

      
Application Number 18261935
Status Pending
Filing Date 2022-01-18
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Cooper, Emily
  • Corbet, Heath
  • De Maillé, Austin C.
  • Jasemian, Babak D.
  • Wilson, Jr., Donald F.

Abstract

A stapler reload assembly includes a cartridge body. The cartridge body comprises a plurality of staple apertures configured to eject staples housed in the cartridge body and a staple retainer removably coupled to the cartridge body. The staple retainer comprises a main body portion configured to at least partially cover the plurality of staple apertures in a position of the staple retainer coupled to the cartridge body, a first handling portion extending from the main body portion at a distal end portion of the staple retainer, and a second handling portion proximal the first handling portion and coupled to the main body portion by a flexure. The second handling portion is elastically deflectable about the flexure and relative to the main body portion of the staple retainer from a neutral, first position to a deflected second position. Devices and methods relate to stapler reload assemblies.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets

58.

SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION

      
Application Number 18435905
Status Pending
Filing Date 2024-02-07
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Azizian, Mahdi
  • Sorger, Jonathan

Abstract

A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.

IPC Classes  ?

  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons

59.

DISTORTION CORRECTION OF ENDOSCOPIC IMAGES IN COMPUTER-ASSISTED TELE-OPERATED SURGERY

      
Application Number 18600331
Status Pending
Filing Date 2024-03-08
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Watson, Jason Paul

Abstract

A surgical system may comprise a display device and an endoscope. The surgical system may also include a processing device configured to operate the surgical system to perform a process comprising receiving a source image and receiving a gaze location of a user of the surgical system. The process may also comprise determining a first region of the source image based on the gaze location. A second region of the source image partially surrounds the first region and includes a source distortion. The process may also comprise applying a distortion correction to the source image to generate a modified image by applying a first degree of distortion correction in the first region and a second degree of distortion correction in the second region. The second degree of distortion correction preserves the source distortion in a portion of the second region. The process may also comprise displaying the modified image.

IPC Classes  ?

  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • G06T 5/70 - Denoising; Smoothing
  • G06T 5/80 - Geometric correction
  • G06T 7/00 - Image analysis

60.

SPLIT BRIDGE CIRCUIT FORCE SENSOR

      
Application Number 18608258
Status Pending
Filing Date 2024-03-18
First Publication Date 2024-09-12
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor Suresh, Ashwinram

Abstract

A force sensor comprising a beam having a longitudinal axis and a proximal end portion and a distal end portion; a first Wheatstone bridge disposed on a first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; a second Wheatstone bridge disposed on the first face of the beam, including multiple tension gauge resistors and multiple compression gauge resistors; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a proximal end portion of the beam; wherein at least one tension gauge resistor and at least one compression gauge resistor from each of the first and second Wheatstone bridges is disposed at a distal end portion of the beam.

IPC Classes  ?

  • G01L 1/22 - Measuring force or stress, in general by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G01L 5/1627 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force using variations in ohmic resistance of strain gauges

61.

SURGICAL DRAPE AND SYSTEMS INCLUDING SURGICAL DRAPE AND ATTACHMENT SENSOR

      
Application Number 18667034
Status Pending
Filing Date 2024-05-17
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Devengenzo, Roman L.
  • Hanuschik, Michael L.
  • Labonville, Gerard J.
  • Mohr, Paul W.
  • Morrissette, Tyler J.
  • Orban, Iii, Joseph P.

Abstract

A patient side cart can have a first sensor at an arm and a second sensor at a main column. A sterile barrier system can include a first drape to cover at least a portion of the arm of the cart, a first attachment device connected to the first drape, a second drape to cover at least a portion of the main column of the cart, and a second attachment device connected to the second drape. In an installed position of the first drape, the first sensor can detect he first attachment device and in an installed position of the second drape, the second sensor can to detect the second attachment device. A system comprising the cart and barrier system can output a warning in response to one or both of the first sensor not detecting the first attachment device and the second sensor not detecting the second attachment device.

IPC Classes  ?

  • A61B 46/10 - Surgical drapes specially adapted for instruments
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 46/23 - Surgical drapes specially adapted for patients with means to retain or hold surgical implements
  • A61B 50/00 - Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
  • A61B 50/20 - Holders specially adapted for surgical or diagnostic appliances or instruments
  • A61B 50/30 - Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
  • A61B 90/50 - Supports for surgical instruments, e.g. articulated arms

62.

FLEXIBLE INSTRUMENT WITH GROOVED STEERABLE TUBE

      
Application Number 18665049
Status Pending
Filing Date 2024-05-15
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Kowshik, Anoop B.
  • Blumenkranz, Stephen J.
  • Fenech, Carolyn M.

Abstract

A medical instrument comprises an elongate flexible body comprising a proximal portion, a distal portion comprising a steerable tube and a plurality of channels, a transition portion between the proximal portion and the distal portion, and an inner sheath extending at least within the proximal portion. The inner sheath comprises a plurality of conduits extending through a wall of the inner sheath, and a distal end of each conduit terminates at the transition portion. The medical instrument further comprises at least one tendon extending from the proximal portion into the distal portion of the elongate flexible body. In the proximal portion, the tendon extends through at least one conduit of the plurality of conduits. In the distal portion, the tendon extends within at least one channel of the plurality of channels.

IPC Classes  ?

  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61M 25/01 - Introducing, guiding, advancing, emplacing or holding catheters

63.

CONTROLLING CONDUCTIVE PATHS BETWEEN ELECTRODES IN ELECTROSURGICAL INSTRUMENTS AND RELATED SYSTEMS AND METHODS

      
Application Number 18552008
Status Pending
Filing Date 2022-03-24
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Shah, Jignesh M.
  • Lee, Chien-Hsun
  • Marion, Duane W.
  • Schoettgen, Benjamin J.

Abstract

An electrosurgical instrument may comprise electrodes provided on the working surfaces of each jaw member that can be set to different electrical potentials and/or polarities to perform electrosurgical operations, such as sealing and cutting. Different combinations of electrodes can be selectively activated to create different pathways for the transfer of electrical energy through the material, to achieve the desired effects.

IPC Classes  ?

  • A61B 18/14 - Probes or electrodes therefor
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body

64.

FEATURE EXTRACTION VIA FEDERATED SELF-SUPERVISED LEARNING

      
Application Number 18598123
Status Pending
Filing Date 2024-03-07
First Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Wang, Ziheng
  • Perreault, Conor
  • Liu, Xi
  • Jarc, Anthony M.

Abstract

One embodiment of the present invention sets forth a technique for training a machine learning model to perform feature extraction. The technique includes executing a student version of the machine learning model to generate a first set of features from a first set of image crops and executing a teacher version of the machine learning model to generate a second set of features from a second set of image crops. The technique also includes training the student version of the machine learning model based on one or more losses computed between the first and second sets of features. The technique further includes transmitting the trained student version of the machine learning model to a server, wherein the trained student version can be aggregated by the server with additional trained student versions of the machine learning model to generate a global version of the machine learning model.

IPC Classes  ?

  • G06N 3/098 - Distributed learning, e.g. federated learning
  • G06N 3/0895 - Weakly supervised learning, e.g. semi-supervised or self-supervised learning

65.

GENERATION OF HIGH RESOLUTION MEDICAL IMAGES USING A MACHINE LEARNING MODEL

      
Application Number US2024018155
Publication Number 2024/186659
Status In Force
Filing Date 2024-03-01
Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Han, Runze
  • Zhang, Hui

Abstract

An illustrative image generation system may be configured to access a first image depicting an anatomical object, generate, based on the first image and using a machine learning model, a second image depicting the anatomical object and having a resolution greater a resolution of the first image, and generate, based on the second image, a three-dimensional model of the anatomical object. The machine learning model may be trained to generate the second image using various techniques.

IPC Classes  ?

  • G06T 3/4046 - using neural networks
  • G06T 3/4053 - based on super-resolution, i.e. the output image resolution being higher than the sensor resolution
  • G06T 7/11 - Region-based segmentation

66.

DEPTH-BASED GENERATION OF MIXED-REALITY IMAGES

      
Application Number US2024018620
Publication Number 2024/186869
Status In Force
Filing Date 2024-03-06
Publication Date 2024-09-12
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Shirazian, Pourya
  • Mcleod, A. Jonathan
  • Shikata, Hidenori

Abstract

An illustrative system may be configured to determine a region of interest within an image depicting a scene that includes one or more anatomical objects, access a virtual model associated with the one or more anatomical objects, and present a combined image that includes the virtual model superimposed on the image. The combined image may be presented by directing a display device to display a first portion of the virtual model that is positioned within the region of interest of the image and abstain from displaying a second portion of the virtual model that is positioned outside the region of interest of the image.

IPC Classes  ?

  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations

67.

SYSTEMS AND METHODS FOR CLASSIFYING BRANCHED ANATOMICAL STRUCTURES

      
Application Number US2024017310
Publication Number 2024/182300
Status In Force
Filing Date 2024-02-26
Publication Date 2024-09-06
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Bouza, Jose
  • Li, Junning
  • Isaev, Dmitry

Abstract

An example method may include generating, by a computing device, a graph based on segmentation data representing a branched anatomical structure, the graph representing a plurality of possible paths to a branch of the branched anatomical structure, the plurality of possible paths comprising a plurality of additional branches. The method may further include applying, by the computing device, a graph analysis algorithm to the graph, wherein the applying the graph analysis algorithm includes generating, for a possible path of the plurality of possible paths to the branch, a path probability value based on link affinity values of pairs of the additional branches on the possible path to the branch. The method may further include classifying, by the computing device and based on the applying the graph analysis algorithm, a branch of the branched anatomical structure.

IPC Classes  ?

  • G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks

68.

REPRESENTING A QUANTITATIVE PROPERTY OF AN ANATOMICAL OBJECT IN A USER INTERFACE

      
Application Number US2024017860
Publication Number 2024/182601
Status In Force
Filing Date 2024-02-29
Publication Date 2024-09-06
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Dalma-Weiszhausz, Dennise D.
  • Dicarlo, Jeffrey M.
  • Bichal, Abhishek
  • Bittner, Jennifer
  • Dimaio, Simon P.
  • Itkowitz, Brandon D.
  • Johnson, Sarah
  • Malhan, Anshul
  • Rogers, Theodore W.
  • Van Story, David
  • Yue, Lin
  • Ghosh, Sarthak

Abstract

An illustrative property value system may be configured to provide, for display in a user interface, an image of an anatomical scene as captured by an imaging device and identify a reference location and an additional location in the image of the anatomical scene. The system may further be configured to determine a value of a property of an anatomical object at the additional location relative to the reference location and cause display, in the user interface together with the image of the anatomical scene, of output data representative of the reference location, the additional location, and the value of the property of the anatomical object at the additional location relative to the reference location.

IPC Classes  ?

  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
  • A61B 5/1455 - Measuring characteristics of blood in vivo, e.g. gas concentration, pH-value using optical sensors, e.g. spectral photometrical oximeters
  • G01N 21/64 - Fluorescence; Phosphorescence
  • G06T 7/00 - Image analysis
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

69.

SYSTEMS AND METHODS FOR CALIBRATING AN IMAGE SENSOR IN RELATION TO A ROBOTIC INSTRUMENT

      
Application Number US2024017298
Publication Number 2024/182294
Status In Force
Filing Date 2024-02-26
Publication Date 2024-09-06
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Mcleod, A. Jonathan
  • Allan, Maximilian H.

Abstract

An illustrative system includes a memory storing instructions and a processor communicatively coupled to the memory. The processor may be configured to execute the instructions to perform a process comprising obtaining scanning data collected during a scanning movement in which an image sensor physically coupled to a robotic instrument is moved within an imaging space, the scanning data including images captured by the image sensor during the scanning movement and tracking data for the robotic instrument during the scanning movement; determining, based on the images captured by the image sensor during the scanning movement, first motion data for the image sensor; determining, based on the tracking data for the robotic instrument, second motion data for the robotic instrument; and determining, based on the first motion data and the second motion data, a calibration of the image sensor in relation to the robotic instrument in the imaging space.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets

70.

Rendering Tool Information As Graphic Overlays On Displayed Images Of Tools

      
Application Number 18437072
Status Pending
Filing Date 2024-02-08
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Dimaio, Simon P.
  • Halabe, Daniel J.
  • Hasser, Christopher J.
  • Hoffman, Brian David
  • Larkin, David Q.
  • Mohr, Catherine J.
  • Mohr, Paul W.
  • Zhao, Tao
  • Zhao, Wenyi

Abstract

A system comprises: a robotic arm operatively coupleable to a tool comprising a working end; and an input device communicatively coupled to the robotic arm. The input device is manipulatable by an operator. The system further comprises a processor configured to cause an image of a work site, captured by an image capture device from a perspective of an image reference frame, to be displayed on a display. The image of the work site includes an image of the working end of the tool. The processor is further configured to determine a position of the working end of the tool in the image of the work site and render a tool information overlay at the position of the working end of the tool in the image of the work site. The tool information overlay visually indicates an identity of the input device.

IPC Classes  ?

  • G06T 11/60 - Editing figures and text; Combining figures or text
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 34/37 - Master-slave robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • B25J 9/16 - Programme controls
  • G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
  • G06T 11/40 - Filling a planar surface by adding surface attributes, e.g. colour or texture

71.

SURGICAL SYSTEM WITH VARIABLE ENTRY GUIDE CONFIGURATIONS

      
Application Number 18591683
Status Pending
Filing Date 2024-02-29
First Publication Date 2024-09-05
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Mcgrogan, Anthony K.
  • Cooper, Thomas G.
  • Larkin, David Q.
  • Anderson, Kent M.
  • Brown, Jeffrey D.
  • Lilagan, Paul E.
  • Ikeda, Michael

Abstract

A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

IPC Classes  ?

  • B25J 15/00 - Gripping heads
  • A61B 17/34 - Trocars; Puncturing needles
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
  • A61B 90/90 - Identification means for patients or instruments, e.g. tags

72.

SYSTEMS AND METHODS FOR KEYPOINT DETECTION AND TRACKING-BY-PREDICTION FOR MULTIPLE SURGICAL INSTRUMENTS

      
Application Number 18592922
Status Pending
Filing Date 2024-03-01
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Guo, Rui
  • Liu, Xi
  • Wang, Ziheng
  • Ershad Langroodi, Marzieh
  • Jarc, Anthony M.

Abstract

A method for detecting a location of a plurality of keypoints of a surgical instrument comprises receiving, at a first neural network model, a video input of a surgical procedure. The method further comprises generating, using the first neural network model, a first output image including a first output location of the plurality of keypoints annotated on a first output image of the surgical instrument. The method further comprises receiving, at a second neural network model, the first output image and historic keypoint trajectory data including a historic trajectory for the plurality of keypoints. The method further comprises determining, using the second neural network model, a trajectory for the plurality of keypoints. The method further comprises generating, using the second neural network model, a second output image including a second output location of the plurality of keypoints annotated on a second output image of the surgical instrument.

IPC Classes  ?

  • G06T 11/20 - Drawing from basic elements, e.g. lines or circles
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • G06T 5/60 - using machine learning, e.g. neural networks
  • G06T 5/70 - Denoising; Smoothing
  • G06T 7/00 - Image analysis
  • G06T 7/246 - Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
  • G06T 7/73 - Determining position or orientation of objects or cameras using feature-based methods

73.

SYSTEM AND METHOD FOR PROVIDING FEEDBACK DURING MANUAL JOINT POSITIONING

      
Application Number 18658686
Status Pending
Filing Date 2024-05-08
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Griffiths, Paul G.

Abstract

Techniques for providing feedback during manual joint positioning include a computer-assisted device comprising an articulated structure comprising a joint and a brake associated with the joint and a control unit coupled to the articulated structure. To provide feedback during manual positioning of the joint due to manual force applied by an operator, the control unit is configured to determine a target position for the joint, determine kinematics of the joint relative to the target position, lock the joint when the joint is at the target position, release the brake when the kinematics of the joint indicate that the joint is moving towards the target position, and apply the brake when the kinematics of the joint indicate that the joint is moving away from the target position.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/37 - Master-slave robots
  • A61B 90/50 - Supports for surgical instruments, e.g. articulated arms
  • B25J 1/02 - Manipulators positioned in space by hand articulated or flexible
  • B25J 3/04 - Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
  • B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
  • B25J 9/16 - Programme controls
  • B25J 13/02 - Hand grip control means
  • B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

74.

SYSTEM AND METHOD FOR VARIABLE VELOCITY INSTRUMENT

      
Application Number 18662686
Status Pending
Filing Date 2024-05-13
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Weir, David W.
  • Brisson, Gabriel F.
  • Burbank, William A.
  • Chaghajerdi, Amir
  • Flanagan, Patrick
  • Hingwe, Pushkar
  • Wilson, Andrew
  • Wilson, Jr., Donald F.
  • Wixey, Matthew A.

Abstract

Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

75.

SYSTEMS AND METHODS FOR MOTION CONTROL OF STEERABLE DEVICES

      
Application Number 18662382
Status Pending
Filing Date 2024-05-13
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Diolaiti, Nicola

Abstract

A system may comprise a control device configured to receive user inputs and a manipulator system including an actuator configured to receive and drive a steerable device. The system may also comprise a control system communicatively coupled to the manipulator system and the control device. The control system may be configured to track a virtual user-instructed position based on a first user input, determine a device position of a portion of the steerable device, and determine a position discrepancy between the determined device position and the virtual user-instructed position. The control system may also be configured to receive a second user input commanding motion of the steerable device and in response to the second user input, reduce the position discrepancy.

IPC Classes  ?

  • B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 34/37 - Master-slave robots
  • G05B 19/4155 - Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme

76.

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY

      
Application Number 18662704
Status Pending
Filing Date 2024-05-13
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Donhowe, Caitlin Q.
  • Duindam, Vincent
  • Soper, Timothy D.
  • Zhao, Tao

Abstract

A method comprises receiving a set of model points of a model of one or more passageways of a patient. The method further comprises receiving a set of measured points collected from within the one or more passageways of the patient. Each point comprises coordinates within a medical environment occupied by the patient. The method further comprises matching each measured point to a model point to generate a set of matches. The method further comprises assigning a weight to each of the measured points based on the set of matches to generate a weighted set of matches. The method further comprises moving the set of measured points relative to the set of model points based on the weighted set of matches.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 5/00 - Measuring for diagnostic purposes ; Identification of persons
  • A61B 5/01 - Measuring temperature of body parts
  • A61B 5/0536 - Impedance imaging, e.g. by tomography
  • A61B 5/055 - Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
  • A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
  • A61B 6/03 - Computerised tomographs
  • A61B 8/08 - Detecting organic movements or changes, e.g. tumours, cysts, swellings
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G06T 7/12 - Edge-based segmentation
  • G06T 7/33 - Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods

77.

SURGICAL STAPLING INSTRUMENT

      
Application Number 18663757
Status Pending
Filing Date 2024-05-14
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Wixey, Matthew

Abstract

A surgical instrument includes an elongate shaft and an end effector. The end effector includes a jaw, and a coupling member configured to receive a first and second reload and to removably couple the first and second reload to the end effector. The coupling member is configured to retain the first reload in a closed position relative to the jaw such that the jaw and the first reload have a tissue gap therebetween. The coupling member is configured to retain the second reload in a closed position relative to the jaw such that the jaw and the second reload have a tissue gap therebetween that is larger than the first tissue gap. The instrument is designed to accommodate reloads with different tissue gaps between the first jaw and the reload, thereby allowing an operator to treat tissue of varying sizes, shapes and thicknesses with the same surgical instrument.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/29 - Forceps for use in minimally invasive surgery
  • A61B 34/30 - Surgical robots

78.

SURGICAL INSTRUMENT CONTROL

      
Application Number 18442742
Status Pending
Filing Date 2024-02-15
First Publication Date 2024-09-05
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Rosa, David J.
  • Brogna, Salvatore J.

Abstract

A control system includes a processor communicatively coupled with first and second user-actuated input mechanisms. The processor is configured to, in response to a first input at the first user-actuated input mechanism, command a jaw mechanism of an end effector to move from an open position to an intermediate closed position within the range of motion of the jaw mechanism, and command a translating mechanism of the end effector to move from a proximal position to an intermediate position relative to the jaw mechanism. In response to a second input at the first user-actuated input mechanism, the processor is configured to command the jaw mechanism to move to the closed position, and command the translating element of the end effector to move from the intermediate position to the distal position.

IPC Classes  ?

  • A61B 17/32 - Surgical cutting instruments
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 18/00 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
  • A61B 18/12 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
  • A61B 18/14 - Probes or electrodes therefor
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery

79.

TOOL BASED FLEXIBLE ELONGATE DEVICE CONTROL

      
Application Number US2024016622
Publication Number 2024/178047
Status In Force
Filing Date 2024-02-21
Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Liu, Shibing
  • Schorr, Samuel

Abstract

Medical systems and methods include a flexible elongate device having an articulable body portion and an actuator configured to control articulation of the articulable body portion of the flexible elongate device. A control system determines an expected position of the articulable body portion, determines tool data associated with a tool insertable within a lumen of the flexible elongate device, determines adjustment data based on a model of the flexible elongate device with the tool data to cause an actual position of the articulable body portion to correspond with the expected position when the tool is inserted within the lumen, and operates the actuator to control articulation the articulable body portion according to the adjustment data.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery

80.

MEDICAL INSTRUMENT

      
Application Number US2024016719
Publication Number 2024/178115
Status In Force
Filing Date 2024-02-21
Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Moreira Ridsdale, David I.
  • Joe, Wesley Chung
  • Miao, Jason
  • Ratia, Harsukhdeep Singh
  • Suresh, Ashwinram
  • Tsuji, Craig Keith
  • Ye, Zhou
  • Yee, Kristopher

Abstract

A medical device includes a shaft, a beam comprising a proximal end portion coupled to a distal end portion of the shaft. A body is coupled to a distal end portion of the beam and comprises a fluid port. The medical device further includes a shroud comprising a proximal end portion, a distal end portion, and an inner wall between the proximal end portion and the distal end portion of the shroud. The distal end portion of the shroud is coupled to the body and the proximal end portion of the shroud is located between the distal end portion of the shaft and the body. The inner wall of the shroud defines an interior volume in fluid communication with the fluid port such that fluid introduced into the fluid port flows through the interior volume of the shroud and is directed proximally toward the distal end portion of the shaft.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 90/70 - Cleaning devices specially adapted for surgical instruments

81.

SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY

      
Application Number 18653066
Status Pending
Filing Date 2024-05-02
First Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Zhao, Tao
  • Barbagli, Federico
  • Donhowe, Caitlin Q.
  • Duindam, Vincent
  • Paris, Michael D.
  • Soper, Timothy D.
  • Wagner, Oliver J.

Abstract

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

IPC Classes  ?

  • G06T 7/00 - Image analysis
  • A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
  • A61B 6/12 - Devices for detecting or locating foreign bodies
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G06T 11/00 - 2D [Two Dimensional] image generation

82.

DUAL BRAKE SETUP JOINT

      
Application Number 18654998
Status Pending
Filing Date 2024-05-03
First Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Lambrecht, Bram Gilbert Antoon
  • Hourtash, Arjang M.
  • Tabandeh, Saleh

Abstract

Techniques for braking a joint include a system having a first link, a second link, a joint connecting the first link and the second link, and a dual brake assembly. The dual brake assembly includes a first brake and a second brake. Braking the dual brake assembly reduces relative motion between the first and second links. The first brake provides a first brake holding strength when engaged, the second brake provides a second brake holding strength when engaged, and the second brake holding strength is different from the first brake holding strength. When the dual brake assembly is unpowered, the first brake is automatically engaged and the second brake is automatically disengaged.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/35 - Surgical robots for telesurgery
  • B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

83.

RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT

      
Application Number 18655041
Status Pending
Filing Date 2024-05-03
First Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Dimaio, Simon P.
  • Nowlin, William C.
  • Niemeyer, Gunter D.
  • Mintz, David S.

Abstract

Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

IPC Classes  ?

  • A61B 34/37 - Master-slave robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 34/35 - Surgical robots for telesurgery
  • A61B 90/10 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
  • B25J 3/00 - Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
  • B25J 9/16 - Programme controls

84.

SYSTEMS AND METHODS FOR MONITORING PATIENT MOTION DURING A MEDICAL PROCEDURE

      
Application Number 18658363
Status Pending
Filing Date 2024-05-08
First Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Adebar, Troy K.
  • Duindam, Vincent

Abstract

A method comprises generating, by a control system, a measured model of an elongate instrument based on a measured state of the elongate instrument. The method further comprises generating, by the control system, a predicted model of the elongate instrument based on a reference state of the elongate instrument and a user command. The method further comprises comparing, by the control system, the measured model with the predicted model. The method further comprises determining, by the control system, whether a patient has moved relative to the elongate instrument based on the comparison.

IPC Classes  ?

  • A61B 34/37 - Master-slave robots
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

85.

PORCINE LEAF FAT MEMBRANE USED IN TISSUE MODELS FOR SURGICAL TRAINING AND ASSOCIATED METHODS

      
Application Number 18585140
Status Pending
Filing Date 2024-02-23
First Publication Date 2024-08-29
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Monaco, Margaret
  • Cao, Joanna
  • Tew, Lucas

Abstract

A method for making a porcine leaf fat membrane may include exposing a porcine leaf fat tissue sample to a detergent solution. The porcine leaf fat tissue sample includes a porcine leaf fat membrane and porcine leaf fat connected thereto. The method includes mechanically stripping the porcine leaf fat from the porcine leaf fat membrane after exposing the porcine leaf fat tissue sample to the detergent solution. The porcine leaf fat membrane may be incorporated within a tissue model for surgical training.

IPC Classes  ?

  • G09B 23/30 - Anatomical models
  • C12N 5/077 - Mesenchymal cells, e.g. bone cells, cartilage cells, marrow stromal cells, fat cells or muscle cells

86.

INTEGRATED SURGICAL THEATER REPRESENTATION, PLANNING, AND COORDINATION

      
Application Number 18587498
Status Pending
Filing Date 2024-02-26
First Publication Date 2024-08-29
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Lamba, Gaurav
  • Lee, Kenneth
  • Mcleod, Angus Jonathan
  • Murugappan, Sundar
  • Payyavula, Govinda
  • Shirazian, Pourya

Abstract

Various of the disclosed embodiments provide systems and methods for coordinating actions among team members within a surgical theater, including robotic surgical theaters. For example, embodiments may create a three-dimensional model of the patient's interior, or a portion of the patient's interior, using data from an imaging device coupled to a surgical instrument. This model may then be used to facilitate more coordinated decisions among team members in the theater, such as the placement of additional laparoscopic ports. Augmented reality and virtual reality planning systems and methods availing themselves of the three-dimensional model, including “virtual dollhouse” roleplaying methods, may also facilitate team member coordination in some embodiments. Models of the surgical environment may also provide predictive analyses so as to extend the surgical team's “planning horizon.” Such predictive analytics may itself benefit from historical surgical data, including past records of patient interior model creation and planning.

IPC Classes  ?

  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/37 - Master-slave robots
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G06F 30/20 - Design optimisation, verification or simulation

87.

SEAL ASSEMBLY AND CONTROL STRUCTURE FOR FLEXIBLE ELOGNATE DEVICE

      
Application Number 18442897
Status Pending
Filing Date 2024-02-15
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Yuen, Pak Yan
  • Bogusky, Joseph
  • Callol, Joseph
  • Chan, Jason
  • Thadani, Vijay
  • Chen, Arnold
  • Hernandez Morales, Saul
  • Walters, Worth
  • Solum, David
  • Abbas, Wadiyat
  • Foad, Majeed
  • Gordon, Lucas
  • Kaplan, Stephen

Abstract

Flexible elongate devices and methods include an articulable body portion and a control structure attached with one or more pull wires that control articulation of the articulable body portion. The control structure includes a metallic material that defines a sealing surface functionalized by a primer. A polymer material disposed onto the sealing surface of the control structure creates a seal between the control structure and polymer material. Flexible elongate devices and methods also include a control structure and a pull wire configured to control articulation of the flexible elongate device. The control structure includes a plurality of control segments stacked along a longitudinal axis, where each of the control segments define a pull wire aperture, where pull wire apertures of adjacent control segments are offset relative to one another, such that a portion of the pull wire extending through the pull wire apertures has a non-linear shape.

IPC Classes  ?

  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/30 - Surgical robots
  • A61B 34/37 - Master-slave robots

88.

TELESCOPING CANNULA ARM

      
Application Number 18595803
Status Pending
Filing Date 2024-03-05
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Thompson, Allen C.
  • Gomez, Daniel H.
  • Nangreaves, Kirk

Abstract

A system includes a manipulator arm and a cannula mount arm. The manipulator arm includes a link and a locking assembly coupled to the link. The cannula mount arm includes a latch. The cannula mount arm is configured to be extended from the link to an extended position. The locking assembly is configured to engage with the latch when the cannula mount arm is extended from the link to the extended position so as to lock the cannula mount arm in the extended position. Activation of an electrical component coupled to the locking assembly is inhibited when a cannula is docked to the cannula mount arm.

IPC Classes  ?

  • A61B 34/30 - Surgical robots
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/34 - Trocars; Puncturing needles
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 46/10 - Surgical drapes specially adapted for instruments
  • A61B 90/50 - Supports for surgical instruments, e.g. articulated arms

89.

SYSTEMS AND METHODS FOR BIFURCATED NAVIGATION CONTROL OF A MANIPULATOR CART INCLUDED WITHIN A COMPUTER-ASSISTED MEDICAL SYSTEM

      
Application Number 18646127
Status Pending
Filing Date 2024-04-25
First Publication Date 2024-08-22
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Hannaford, Sophia R.
  • Babb, Marisa C.
  • Dimaio, Simon P.
  • Gotsill, Craig
  • Mohareri, Omid
  • Rabindran, Dinesh

Abstract

A system is configured to direct a manipulator cart to navigate, in a first bifurcated navigation control mode, from an initial location to an intermediate location; and direct the manipulator cart to navigate, in a second bifurcated navigation control mode, from the intermediate location to a target location. In the first bifurcated navigation control mode, the system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart. In the second bifurcated navigation control mode, the system is configured to autonomously control the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.

IPC Classes  ?

  • A61B 34/32 - Surgical robots operating autonomously
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/37 - Master-slave robots
  • A61B 50/13 - Trolleys
  • B25J 5/00 - Manipulators mounted on wheels or on carriages
  • B25J 9/00 - Programme-controlled manipulators

90.

DETERMINING CHROMOPHORE CONCENTRATIONS IN TISSUES

      
Application Number 18650707
Status Pending
Filing Date 2024-04-30
First Publication Date 2024-08-22
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Dicarlo, Jeffrey M.
  • Mcdowall, Ian E.

Abstract

Technology described herein can be embodied in a method that includes obtaining, using an imaging device, a plurality of images of a surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in one of a plurality of wavelength ranges. The plurality of wavelength ranges are at least partially non-overlapping. The method also includes identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set of pixel values is substantially representative of a particular portion of the surgical scene and determining, based on the set of pixel values and a chromophore model, a concentration of a chromophore in the particular portion of the surgical scene, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations.

IPC Classes  ?

  • G06T 7/00 - Image analysis
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
  • A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

91.

MIXED REALITY SYSTEMS AND METHODS FOR INDICATING AN EXTENT OF A FIELD OF VIEW OF AN IMAGING DEVICE

      
Application Number 18653499
Status Pending
Filing Date 2024-05-02
First Publication Date 2024-08-22
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Payyavula, Govinda
  • Jansen, Cortney
  • Phan, Huan Lac
  • Dimaio, Simon P.

Abstract

A computer-assisted system includes a manipulator arm coupled to an active imaging device and one or more processors configured to perform a process comprising: automatically directing a display device to display a shape overlay overlaid with an external view of a body, wherein the shape overlay is indicative of an extent of a field of view of the active imaging device relative to the body, and automatically directing the display device to display an auxiliary shape overlay overlaid with the external view of the body, wherein the auxiliary shape overlay is indicative of an extent of a potential field of view of the active imaging device relative to the body, the potential field of view distinct from the field of view.

IPC Classes  ?

  • G06T 19/00 - Manipulating 3D models or images for computer graphics
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
  • A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots

92.

SYSTEM AND METHOD FOR MAINTAINING A TOOL POSITION AND ORIENTATION

      
Application Number 18654147
Status Pending
Filing Date 2024-05-03
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Itkowitz, Brandon D.
  • Swarup, Nitish
  • Griffiths, Paul G.
  • Lynch, Goran

Abstract

Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.

IPC Classes  ?

  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • B25J 9/16 - Programme controls

93.

COMBINING NEAR-INFRARED INFORMATION WITH COLORED IMAGES IN IMAGE-GUIDED SURGERY

      
Application Number 18649577
Status Pending
Filing Date 2024-04-29
First Publication Date 2024-08-22
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Dicarlo, Jeffrey M.
  • Trejo, Max J.

Abstract

The technology described herein can be embodied in a method that includes receiving data representing information captured using a first sensor and a second sensor of a multi-sensor camera. The sensors are configured to capture a surgical scene illuminated by a light source configured to emit wavelengths in the visible spectrum corresponding to sensing capabilities of the first and second sensors, respectively. The method also includes receiving data representing information captured using a third sensor of the multi-sensor camera, the third sensor configured to capture the surgical scene as illuminated by a near-infrared light source, and generating a first visual representation of the surgical scene based on the data representing the information captured using the first and second sensors. The first visual representation is combined with the information captured using the third sensor to generate a second visual representation, and the second visual representation is presented on a display device.

IPC Classes  ?

  • A61B 1/04 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 1/05 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
  • A61B 1/06 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
  • A61B 1/313 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
  • G06T 7/00 - Image analysis

94.

SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION

      
Application Number 18650505
Status Pending
Filing Date 2024-04-30
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Wu, Melody
  • Weir, David W.

Abstract

Techniques for force and torque limit compensation include a computer-assisted device including a drive unit configured to operate a degree of freedom of an instrument supported by the computer-assisted device and a control unit. The control unit is configured to determine an expected amount of restraining or return to home force or torque applied to the degree of freedom; determine a force or torque limit compensation based on the expected amount of restraining or return to home force or torque; alter one or more force or torque limits based on the force or torque limit compensation; and adjust, using the drive unit, the degree of freedom subject to the one or more altered force or torque limits.

IPC Classes  ?

  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/285 - Surgical forceps combined with cutting implements
  • A61B 17/3205 - Excision instruments
  • A61B 18/08 - Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by means of electrically-heated probes
  • A61B 18/14 - Probes or electrodes therefor
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 34/30 - Surgical robots
  • A61B 34/32 - Surgical robots operating autonomously
  • A61B 34/35 - Surgical robots for telesurgery
  • B25J 9/16 - Programme controls

95.

BEACON-BASED SYSTEMS AND METHODS FOR GENERATING MEDICAL FACILITY METRICS

      
Application Number 18651318
Status Pending
Filing Date 2024-04-30
First Publication Date 2024-08-22
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Azizian, Mahdi
  • Burns, Christopher R.
  • Foelsch, Boris
  • Leist, Liron

Abstract

A beacon-based metrics system tracks, based on medical session data logged by a computer-assisted surgical system, events associated with the computer-assisted surgical system; determines that a user device that is not communicatively paired with the computer-assisted surgical system detects a beacon associated with the computer-assisted surgical system; and generates medical facility metrics data representative of the tracked events. Generating the medical facility metrics data includes identifying a set of tracked events that occur during a time period in which the user device detects the beacon and associating information associated with the user device with the set of tracked events.

IPC Classes  ?

  • G16H 40/20 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 90/98 - Identification means for patients or instruments, e.g. tags using electromagnetic means, e.g. transponders
  • G06K 7/10 - Methods or arrangements for sensing record carriers by corpuscular radiation
  • G06K 7/14 - Methods or arrangements for sensing record carriers by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
  • G16H 15/00 - ICT specially adapted for medical reports, e.g. generation or transmission thereof
  • G16H 20/40 - ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
  • G16H 40/67 - ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
  • G16H 70/20 - ICT specially adapted for the handling or processing of medical references relating to practices or guidelines
  • G16H 80/00 - ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
  • H04W 4/38 - Services specially adapted for particular environments, situations or purposes for collecting sensor information
  • H04W 8/00 - Network data management

96.

SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY

      
Application Number 18652927
Status Pending
Filing Date 2024-05-02
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Zhao, Tao
  • Barbagli, Federico
  • Donhowe, Caitlin Q.
  • Duindam, Vincent
  • Paris, Michael D.
  • Soper, Timothy D.
  • Wagner, Oliver J.

Abstract

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion.

IPC Classes  ?

  • G06T 7/00 - Image analysis
  • A61B 6/00 - Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
  • A61B 6/12 - Devices for detecting or locating foreign bodies
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
  • G06T 11/00 - 2D [Two Dimensional] image generation

97.

SYSTEMS AND METHODS FOR USING TRACKING IN IMAGE-GUIDED MEDICAL PROCEDURE

      
Application Number 18653383
Status Pending
Filing Date 2024-05-02
First Publication Date 2024-08-22
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Duindam, Vincent
  • Barbagli, Federico
  • Soper, Timothy D.
  • Zhao, Tao
  • Donhowe, Caitlin Q.

Abstract

A method comprises tracking a set of optical fiducials positioned on a reference portion of a medical instrument. The medical instrument includes an elongated flexible body with a distal end and a rigid proximal body which includes the reference portion. The method further comprises receiving shape information from a shape sensor extending within the medical instrument between the reference portion and the distal end and determining a pose of a portion of the elongated flexible body with respect to the patient anatomy.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 1/005 - Flexible endoscopes
  • A61B 1/267 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
  • A61B 5/06 - Devices, other than using radiation, for detecting or locating foreign bodies
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 34/00 - Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B 34/10 - Computer-aided planning, simulation or modelling of surgical operations
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges

98.

PROTECTION OF PERSONALLY IDENTIFIABLE CONTENT IN A VIDEO STREAM GENERATED BY AN IMAGING DEVICE DURING A MEDICAL PROCEDURE

      
Application Number 18568564
Status Pending
Filing Date 2022-06-24
First Publication Date 2024-08-15
Owner Intuitive Surgical Operations, Inc. (USA)
Inventor
  • Qin, Yidan
  • Allan, Maximilian H.
  • Azizian, Mahdi

Abstract

An illustrative image processing system is configured to apply a video stream to a machine learning model, the video stream generated by an imaging device during a medical procedure performed with respect to a patient; classify, based on an output of the machine learning model, an image frame included in the video stream as an ex-body frame that depicts content external to a body of the patient: and apply, based on the classifying the image frame as the ex-body frame, a privacy enhancing operation to the image frame.

IPC Classes  ?

  • G06V 20/40 - Scenes; Scene-specific elements in video content
  • G06F 21/62 - Protecting access to data via a platform, e.g. using keys or access control rules
  • G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
  • G06V 10/96 - Management of image or video recognition tasks
  • G06V 20/50 - Context or environment of the image
  • G06V 40/10 - Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands

99.

DEVICES FOR INSTRUMENT USE RECORDING, DEVICES FOR RECORDING INSTRUMENT REPROCESSING EVENTS, AND RELATED SYSTEMS AND METHODS

      
Application Number 18643081
Status Pending
Filing Date 2024-04-23
First Publication Date 2024-08-15
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor
  • Goodman, Jack
  • Joe, Wesley Chung
  • Morrissette, Tyler J.

Abstract

An instrument can include a shaft with a proximal end portion and a distal end portion, an end effector at the distal end portion, and a transmission mechanism at the proximal end portion. The transmission mechanism can include a driven input device engageable with an external drive mechanism. The instrument can include an indicator operably coupled to the driven input device and moveable through each of a plurality of consecutive positions, each of the plurality of consecutive positions being associated with a unique indicium of a non-zero number of available uses left of the instrument. In response to the driven input device being driven, the indicator moves from a current position of the plurality of positions to a subsequent position of the plurality of positions. The instrument can also include a device configured to record occurrence of a change in an environmental condition to which the instrument is subjected.

IPC Classes  ?

  • A61B 17/072 - Surgical staplers for applying a row of staples in a single action
  • A61B 17/00 - Surgical instruments, devices or methods, e.g. tourniquets
  • A61B 17/068 - Surgical staplers
  • A61B 17/10 - Surgical instruments, devices or methods, e.g. tourniquets for closing wounds, or holding wounds closed, e.g. surgical staples; Accessories for use therewith for applying or removing wound clamps; Wound clamp magazines
  • A61B 17/12 - Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord
  • A61B 17/128 - Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels or umbilical cord for applying or removing clamps or clips
  • A61B 34/30 - Surgical robots
  • A61B 90/10 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis

100.

SYSTEM AND METHOD OF DISPLAYING IMAGES FROM IMAGING DEVICES

      
Application Number 18646112
Status Pending
Filing Date 2024-04-25
First Publication Date 2024-08-15
Owner INTUITIVE SURGICAL OPERATIONS, INC. (USA)
Inventor Brisson, Gabriel F.

Abstract

Techniques for displaying images from an imaging device include a display device and one or more processors coupled to the display device. The one or more processors are configured to track movement of an imaging device, determine a display-device-to-imaging-window transform based on the tracked movement of the imaging device, and display an image from the imaging device on the display device. A position and an orientation of the image on the display device is based on the display-device-to-imaging-window transform. The position and the orientation of the image on the display device provides one or more cues to an operator regarding at least one of: an inability of the imaging device to follow a command to move the imaging device, a range of motion limit of the imaging device, or a mismatch in degrees of freedom between the imaging device and the display device.

IPC Classes  ?

  • A61B 34/20 - Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
  • A61B 1/00 - Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
  • A61B 90/00 - Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups , e.g. for luxation treatment or for protecting wound edges
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