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Intuitive Surgical Operations Inc patents


Recent patent applications related to Intuitive Surgical Operations Inc. Intuitive Surgical Operations Inc is listed as an Agent/Assignee. Note: Intuitive Surgical Operations Inc may have other listings under different names/spellings. We're not affiliated with Intuitive Surgical Operations Inc, we're just tracking patents.

ARCHIVE: New 2018 2017 2016 2015 2014 2013 2012 2011 2010 2009 | Company Directory "I" | Intuitive Surgical Operations Inc-related inventors


Manual release for medical device drive system

A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. ... Intuitive Surgical Operations Inc

System and method for providing surgical instrument force feedback

Embodiments of an actuated cannula seal are disclosed in some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.. ... Intuitive Surgical Operations Inc

Movable surgical mounting platform controlled by manual motion of robotic arms

Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. ... Intuitive Surgical Operations Inc

Geometrically appropriate tool selection assistance for determined work site dimensions

A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.. ... Intuitive Surgical Operations Inc

Systems and methods of registration for image-guided surgery

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. ... Intuitive Surgical Operations Inc

Systems and methods of registration for image-guided surgery

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. ... Intuitive Surgical Operations Inc

System and method for dynamic virtual collision objects

A system and method of dynamic virtual collision objects includes a control unit for a medical device. The control unit includes one or more processors and an interface coupling the control unit to the medical device. ... Intuitive Surgical Operations Inc

Complex irrigation/suction flow path in a medical device

A suction/irrigation medical device valve system comprises a first valve plunger configured for insertion into a first valve plunger channel. The first valve plunger has a first latch member disposed at a distal end with a first sealing member and a first valve opening disposed proximally from the first latch member. ... Intuitive Surgical Operations Inc

Assembly process for tensioning elements and related systems

A method of manufacturing a surgical instrument mountable to a remotely controllable manipulator configured to operate the surgical instrument includes applying a first tension to a first tensioning element, applying a second tension to a second tensioning element, and maintaining the first and second tensions in the first and second tensioning elements while a first rotatable cylinder is locked to a second rotatable cylinder. The first tensioning element and the second tensioning element are each coupled to a distal end component of the surgical instrument and are coupled to one another such that a tension in one of the first tensioning element and the second tensioning element is transmitted at least in part to the other of the first tensioning element and the second tensioning element.. ... Intuitive Surgical Operations Inc

Fiber management in medical instrument backend

A flexible tool includes an optical fiber including a proximal region, a distal region, an intermediate portion between the proximal region and the distal region and an bending region between the proximal region and the intermediate portion, wherein the intermediate portion is constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The optical fiber may be used to provide shape sensing of the flexible tool.. ... Intuitive Surgical Operations Inc

Surgical system with hermetically sealed endoscope

In one embodiment, a minimally invasive surgical system includes a patient side manipulator, a hermetically sealed endoscopic camera instrument, a vision cart, and a monitor. The patient side manipulator has a robotic arm. ... Intuitive Surgical Operations Inc

Coronary sinus cannulation

A method of visually locating a vessel within a body lumen comprises displacing an opaque fluid with an inflatable member contained within an open area of a barrier or membrane. The method also comprises positioning the inflatable member against or adjacent to a tissue region at a first location and visually assessing the tissue region at the first location through the inflatable member. ... Intuitive Surgical Operations Inc

Rendering tool information as graphic overlays on displayed images of tools

An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.. ... Intuitive Surgical Operations Inc

Surgical port features with electrically conductive portions, related devices, and related methods

A surgical port includes a first end, a second end opposite the first end, and a longitudinal axis extending through the first end and the second end. An outer sidewall extends between the first end and the second end. ... Intuitive Surgical Operations Inc

08/09/18 / #20180221101

Curved cannula surgical system control

A robotic system includes a master device and a slave manipulator configured to support an instrument. The instrument includes an instrument shaft having a proximal end and a distal end, and an end effector coupled to the distal end. ... Intuitive Surgical Operations Inc

08/09/18 / #20180221100

User interfaces and displays for flux supply units

A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.. . ... Intuitive Surgical Operations Inc

08/09/18 / #20180221095

Minimally invasive surgical instrument to provide needle-based therapy

A surgical instrument is provided that includes a first input mechanism having axial slots formed in a periphery and a second input mechanism having helical slots formed in a surface. The instrument also includes an insert having pins extending from a surface thereof, the insert coupled to the second input mechanism such that the one or more pins extend into the helical slots, and a surgical device coupled to an end. ... Intuitive Surgical Operations Inc

08/09/18 / #20180221053

Sealing multiple surgical instruments

In accordance with aspects of the present invention, a door mechanism is provided. A door mechanism according to some embodiments of the present invention includes a door that includes a sealing part, an arm connected to the sealing part, and a pivot part connected to the arm, the door rotating around a pivot axis at the pivot part; and a lever, the lever engaging the door at the pivot part such that the lever opens the door when engaged but is not affected when the door is opened without the lever.. ... Intuitive Surgical Operations Inc

08/02/18 / #20180220064

Intelligent manual adjustment of an image control element

An imaging system comprises an image capturing device, a viewer, a control element, and a processor. The control element controls or adjusts an image characteristic of one of the image capturing device and the viewer. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214681

Surgical instrument ports configured for use with wound retractors, and related devices and methods

A surgical port includes an end face with a channel extending through the end face. The channel has a cross section shaped to receive a surgical instrument cannula. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214225

Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214223

Detecting uncontrolled movement

A teleoperated surgical system includes a component such as a master control or a multi-jointed mechanical system that is configured for manual manipulation and a detection module configured to analyze movement of the component and detect uncontrolled movement of the component. Uncontrolled movement may be identified by detecting movement only on joints that gravity can move, but no movement on joints that are not subject to movement caused by gravity. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214222

Wireless force sensor on a distal portion of a surgical instrument and method

A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214176

Surgical system instrument manipulator

An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. ... Intuitive Surgical Operations Inc

08/02/18 / #20180214014

Medical robotic system with image referenced camera control using partitionable orientational and translational modes

A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. ... Intuitive Surgical Operations Inc

07/26/18 / #20180206927

Curved cannula surgical system

A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another.. ... Intuitive Surgical Operations Inc

07/26/18 / #20180206925

Control of multiple devices

Methods, systems, and apparatuses for controlling surgical systems. In one aspect, a method includes obtaining, at a control subsystem associated with a surgical system, hardware configuration information from a first patient side subsystem that is communicatively coupled to and controlled by the control subsystem; determining a software version to be used by the control subsystem and the first patient side subsystem, wherein determining the software version includes selecting the software version from among a plurality of software versions, and wherein each software version of the plurality of software versions is associated with a particular patient side subsystem; instructing the first patient side subsystem to use the software version; determining whether the software version is currently loaded on the control subsystem; in response to determining that the software version is not currently loaded on the control subsystem, loading the software version on the control subsystem; and initializing the surgical system.. ... Intuitive Surgical Operations Inc

07/26/18 / #20180206924

Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide

To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. ... Intuitive Surgical Operations Inc

07/19/18 / #20180200008

Compact counter balanced arm

In one embodiment of the invention, a link of a counter balanced arm is disclosed including, a hollow housing with a cylindrical cavity having an open end and a closed end with a small opening to allow cables to pass through; a first pivotal joint near the closed end of the hollow housing; a second pivotal join near the open end of the hollow housing; a compressible spring assembly received through the open end by the cylindrical cavity of the hollow housing; and a plug coupled to the open end of the cylindrical cavity of the hollow housing.. . ... Intuitive Surgical Operations Inc

07/12/18 / #20180193100

Robotic surgery system including position sensors using fiber bragg gratings

An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. ... Intuitive Surgical Operations Inc

07/12/18 / #20180193007

Operating self-antagonistic drives of medical instruments

A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.. ... Intuitive Surgical Operations Inc

07/12/18 / #20180192859

Center robotic arm with five-bar spherical linkage for endoscopic camera

A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. ... Intuitive Surgical Operations Inc

07/05/18 / #20180185110

Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures

A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.. ... Intuitive Surgical Operations Inc

07/05/18 / #20180185109

Tool grip calibration for robotic surgery

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. ... Intuitive Surgical Operations Inc

07/05/18 / #20180185106

Surgical system with obstacle indication system

A patient side cart for a teleoperated surgical system may comprise a column extending from a base, the column having a first end connected to the base and a second end opposite the first end. The patient side cart may further include a surgical instrument manipulator arm coupled proximate the second end of the column, and an obstacle indication system comprising an illumination source mounted on the patient side cart at a height above a location the surgical instrument manipulator arm is coupled to the second end of the column, the height being measured in a direction the column extends from the base.. ... Intuitive Surgical Operations Inc

07/05/18 / #20180185105

Medical robotic system with remote current controller for controlling a plurality of distally housed motors

A robotic system comprises a joint position controller and a manipulator having coupled together housings. The manipulator is adapted to hold and manipulate a device. ... Intuitive Surgical Operations Inc

06/21/18 / #20180172920

Interferometric alignment of optical multicore fibers to be connected

The ends of sensing and interrogating multicore fibers are brought into proximity for connection in a first orientation with one or more cores in the sensing fiber being paired up with corresponding one or more cores in the interrogating fiber. Optical interferometry is used to interrogate at least one core pair and to determine a first reflection value that represents a degree of alignment for the core pair in the first orientation. ... Intuitive Surgical Operations Inc

06/21/18 / #20180168756

System and method for patient-side instrument control

A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. ... Intuitive Surgical Operations Inc

06/21/18 / #20180168742

Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.. ... Intuitive Surgical Operations Inc

06/21/18 / #20180168684

Canula fixation devices, systems, and related methods

A cannula fixation device for insertion at a surgical incision includes a sleeve having a passage configured to receive a cannula, and a clamp configured to rotatably couple the cannula to the sleeve and to maintain an axial position of the cannula relative to the sleeve.. . ... Intuitive Surgical Operations Inc

06/21/18 / #20180168572

Surgical instrument with integral knife blade

A cartridge of a surgical instrument includes a housing, a lead screw mounted for rotation in the housing, a drive member operatively coupled with the lead screw, and a knife member. The knife member is driven distally by the drive member and is configured to cut when moved distally. ... Intuitive Surgical Operations Inc

06/14/18 / #20180161112

System and method for minimally invasive cutting instrument operation

A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. ... Intuitive Surgical Operations Inc

06/14/18 / #20180161052

System and method for reducing blade exposures

A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. ... Intuitive Surgical Operations Inc

06/07/18 / #20180153636

Method and apparatus to provide updated patient images during robotic surgery

In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3d data is obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. ... Intuitive Surgical Operations Inc

06/07/18 / #20180153630

System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement

Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. ... Intuitive Surgical Operations Inc

06/07/18 / #20180153621

Systems and methods of registration for image guided surgery

A method performed by a computing system comprises receiving a collected set of spatial information for a distal portion of an instrument at a plurality of locations within a set of anatomic passageways and receiving a set of position information for a reference portion of the instrument when the distal portion of the instrument is at each of the plurality of locations. The method also comprises determining a reference set of spatial information for the distal portion of the instrument based on the collected set of spatial information and the set of position information for the reference portion of the instrument and registering the reference set of spatial information with a set of anatomical model information.. ... Intuitive Surgical Operations Inc

06/07/18 / #20180153612

Surgical instruments, related systems, and related methods

A surgical instrument includes a shaft having a proximal end and a distal end. An end effector assembly includes an end effector body portion coupled to the distal end of the shaft. ... Intuitive Surgical Operations Inc

06/07/18 / #20180153578

Entry guide for multiple instruments in a single port surgical system

A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends of the instrument guide, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. ... Intuitive Surgical Operations Inc

05/24/18 / #20180140365

Grip force control in a robotic surgical instrument

Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A method for controlling grip force in a robotic surgical instrument includes actuating an input link of a spring assembly. ... Intuitive Surgical Operations Inc

05/24/18 / #20180140364

Robotic surgical system with patient support

A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. ... Intuitive Surgical Operations Inc

05/17/18 / #20180132957

Construction and use of low tension medical instrument

A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.. ... Intuitive Surgical Operations Inc

05/17/18 / #20180132890

Electrically conductive reducer device, related systems, and related methods

A reducer device for insertion into a surgical cannula includes a tubular member having a proximal opening and a distal opening and an electrically conductive component configured and positioned to provide an electrically conductive path from an interior of the tubular member to an exterior of the tubular member. The electrically conductive path is localized along an axial length of the tubular member. ... Intuitive Surgical Operations Inc

05/10/18 / #20180128599

Force sensing in a distal region of an instrument including single-core or multi-core optical fiber

An optical force sensor along with an optical processing apparatus and method are disclosed. The optical force sensor includes an optical fiber, a core included in the optical fiber, an instrument including the optical fiber, the instrument having a distal region, and a tubular structure encasing an end of the optical fiber and secured to the first conduit at the distal region of the instrument. ... Intuitive Surgical Operations Inc

05/10/18 / #20180126546

Surgical instrument housing, and related systems, and methods

A force transmission mechanism of a surgical instrument, which is configured to releasably engage with a drive interface device located at a patient side cart of a teleoperated surgical system, includes a housing. The housing is configured to cover one or more drive components of the force transmission mechanism. ... Intuitive Surgical Operations Inc

05/10/18 / #20180126149

Electrode assemblies with electrically insulative electrode spacers, and related devices, systems, and methods

An electrode assembly may include an electrode support made of a first electrically insulative material and an electrode on the electrode support, the electrode having a working surface extending generally transverse to a thickness of the electrode. The electrode assembly may further include an insulative spacer retained in the electrode and made of a second electrically insulative material. ... Intuitive Surgical Operations Inc

05/10/18 / #20180125588

Preventing instrument/tissue collisions

Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. ... Intuitive Surgical Operations Inc

05/10/18 / #20180125569

Electrically insulative electrode spacers, and related devices, systems, and methods

An electrode assembly comprises an electrode support, an electrode on the electrode support, the electrode having a working surface extending generally transverse to a thickness of the electrode, and a filament of electrically insulative material overlying a portion of the working surface of the electrode and at least partially extending through the thickness of the electrode. An electrosurgical may include an end effector having a jaw member comprising such an electrode assembly.. ... Intuitive Surgical Operations Inc

05/10/18 / #20180125333

Efficient and interactive bleeding detection in a surgical system

A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116760

Cleaning of a surgical instrument force sensor

A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116749

System and method for force or torque limit compensation

A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116743

Tension regulator for actuation elements, and related remotely actuated instruments, systems, and methods

A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116735

Surgical robotic tools, data architecture, and use

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116708

Medical instrument electrically energized using drive cables

An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. ... Intuitive Surgical Operations Inc

05/03/18 / #20180116691

Multi-layer seal with overlapping openings

A seal for sealing against a surgical instrument shaft includes a plurality of seal layers and a plurality of overlapping seal openings formed in the seal layers. The plurality of seal openings together can create an effective seal opening that is smaller than any of the individual overlapping seal openings. ... Intuitive Surgical Operations Inc

04/19/18 / #20180109773

Depth based modification of captured images

An imaging system processes images of a plurality of objects which have been captured by an image capture device for display. Normal processing of the images is modified as either a function of a depth corresponding to one or more of the plurality of objects appearing in the captured images relative to the image capture device or as a function of the depth and one or more image characteristics extracted from the captured images. ... Intuitive Surgical Operations Inc

04/19/18 / #20180104448

Articulating mechanism with flex-hinged links

The invention provides articulating mechanisms, and flexible members and flexible segments that can form such articulating mechanisms. The mechanisms are useful, for example, for remote steering, guidance and/or manipulation of various instruments and tools at a targeted location. ... Intuitive Surgical Operations Inc

04/19/18 / #20180104012

Surgical instrument steering input device

A surgical instrument includes: a distal movable component; a proximal drive assembly including a drive shaft, a capstan, and a plurality of splines; a first cable extending between the distal movable component and the drive shaft; and a second cable extending between the distal movable component and the capstan. The drive shaft includes a tapered projection, and the capstan includes a tapered bore in which the tapered projection of the drive shaft is received. ... Intuitive Surgical Operations Inc

04/19/18 / #20180104011

Surgical instrument steering inputs

A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. ... Intuitive Surgical Operations Inc

04/12/18 / #20180098766

Methods and systems for controlling staple firing

Systems and methods for controlling staple firing include an end effector including a first jaw and a second jaw holding staples, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The processor is configured to monitor the applied force or torque and control application of the force or torque by the drive system based on a comparison of the applied force or torque to an acceptable range of force or torque. ... Intuitive Surgical Operations Inc

04/05/18 / #20180092701

Variable-length guide apparatus for delivery of a flexible instrument and methods of use

Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.. ... Intuitive Surgical Operations Inc

04/05/18 / #20180092700

Systems and methods for rendering onscreen identification of instruments in a teleoperational medical system

A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. ... Intuitive Surgical Operations Inc

03/29/18 / #20180085176

Force sensor temperature compensation

A force sensor apparatus is provided including a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each rib of the plurality of radial ribs. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument that is operably couplable to a manipulator arm of a robotic surgical system, and a distal end of the tube portion is proximally couplable to a wrist joint coupled to an end effector. ... Intuitive Surgical Operations Inc

03/22/18 / #20180082114

Method and system of hand segmentation and overlay using depth data

In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. ... Intuitive Surgical Operations Inc

03/22/18 / #20180078321

Master-to-slave orientation mapping when misaligned

A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. ... Intuitive Surgical Operations Inc

03/22/18 / #20180078320

System and method for providing feedback during manual joint positioning

A system and method of providing feedback during manual joint positioning includes a computer-assisted medical device. The computer-assisted medical device includes an articulated arm comprising a joint and a control unit coupled to the articulated arm. ... Intuitive Surgical Operations Inc

03/22/18 / #20180078318

Systems and methods of registration compensation in image guided surgery

A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. ... Intuitive Surgical Operations Inc

03/22/18 / #20180078249

Flexible surgical devices

A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. ... Intuitive Surgical Operations Inc

03/15/18 / #20180075120

Systems and methods for synchronizing nodes of a robotic system

A robotic system is provided. The robotic system includes a publishing node including at least one first synchronization database that includes a plurality of attributes, each of the attributes including a tag identifying the attribute and data, a flag associated with each of the attributes, and a subscriber list. ... Intuitive Surgical Operations Inc

03/15/18 / #20180073615

Split nut drive

A medical device drive system including a lever body having portions defining a lever body cavity, a nut housing in the lever body cavity, and a first nut at least partially in the first nut cavity. The first nut is slideable in the first nut cavity between an engaged position in which the lead screw interface is engaged with the engagement portion of the lead screw, and a disengaged position in which the lead screw interface is not engaged with the engagement portion of the lead screw. ... Intuitive Surgical Operations Inc

03/15/18 / #20180071033

Configuration marker design and detection for instrument tracking

The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, an associated medical system includes a tool having a distal end that is insertable into a patient body, a stereo image capture device insertable into the patient body so that the stereo image capture device captures a stereo image of at least a portion of the a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the stereo image. ... Intuitive Surgical Operations Inc

03/15/18 / #20180070935

Radial telescoping guide apparatus for delivery of a flexible instrument and methods of use

Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a telescoping support assembly including a plurality of support members extending along a longitudinal axis between a proximal end and a distal end. Each of the support members comprises a ring having an inner surface, an outer surface, and a plurality of flanges. ... Intuitive Surgical Operations Inc

03/08/18 / #20180064904

Shape-transferring cannula system and method of use

A medical cannula system comprises a conduit; an endoscope comprising a distal steerable tip, wherein the endoscope is inside the conduit, and wherein the distal steerable tip of the endoscope extends out of the conduit; a tip liner surrounding the distal steerable tip of the endoscope; and a wiper link surrounding the tip liner at a close tolerance.. . ... Intuitive Surgical Operations Inc

03/08/18 / #20180064501

Backup latch release for surgical instrument

A surgical instrument includes a proximal control mechanism. The proximal control mechanism has an opening through which a resilient latch arm can be inserted to engage a locking surface of a fixed latch structure contained within the proximal control mechanism. ... Intuitive Surgical Operations Inc

03/08/18 / #20180064500

Fiber optic sensing of tool strain or tool angle

A hinged tool includes a first member; a second member pivotally connected to the first member at a pivot; and an optical fiber. The optical fiber is fixed to the first member at a load application region and fixed to at least one of the pivot and the second member at a location such that the optical fiber bends when the first member and the second member are pivoted with respect to one another. ... Intuitive Surgical Operations Inc

03/08/18 / #20180064499

Systems and methods for onscreen identification of instruments in a teleoperational medical system

A teleoperational assembly is disclosed which includes an operator control system and a plurality of manipulators configured to control the movement of medical instruments in a surgical environment. The manipulators are teleoperationally controlled by the operator control system. ... Intuitive Surgical Operations Inc

03/08/18 / #20180064493

Systems and methods for a dual-control surgical instrument

A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. ... Intuitive Surgical Operations Inc

03/01/18 / #20180058838

Method and apparatus for motion compensation in interferometric sensing systems

An optical interrogation system, e.g., an ofdr-based system, measures local changes of index of refraction of a sensing light guide subjected to a time-varying disturbance. Interferometric measurement signals detected for a length of the sensing light guide are transformed into the spectral domain. ... Intuitive Surgical Operations Inc

03/01/18 / #20180056040

Axial support structure for a flexible elongate device

An axial support structure for a flexible elongate device includes a plurality of rigid links coupled by pin joints. Each of the plurality of rigid links comprises a shaft, a pair of male joint connectors extending axially from a first end of the shaft, and a pair of female joint connectors extending axially from a second end of the shaft opposite the first end. ... Intuitive Surgical Operations Inc

03/01/18 / #20180055587

Grip force control for robotic surgical instrument end effector

A method of controlling an end effector of a robotically-controlled surgical instrument may include receiving a first input signal indicative of a high grip level input at a master grip input mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a first surgical procedure; and outputting a locking signal in response to receiving the first input signal and the second input signal together to lock one or more degrees of freedom of the surgical instrument during the first surgical procedure.. . ... Intuitive Surgical Operations Inc

02/22/18 / #20180049828

Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems

A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.. ... Intuitive Surgical Operations Inc

02/22/18 / #20180049804

Apparatus and methods for ablation efficacy

Apparatus and methods for ablation efficacy are described herein where a hood having a deployable elongated feature can extend beyond a distal face of the hood. The elongated feature can channel the energy to the deeper regions within the tissue (such as trabeculated regions or other tissue structures) such that the energy can be delivered to the target tissue despite small or large irregularities in the target tissue surface (or region) and/or changes in the relative distances between the hood and the target tissue.. ... Intuitive Surgical Operations Inc

02/15/18 / #20180042688

Cable tensioning in a robotic surgical system

A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. ... Intuitive Surgical Operations Inc

02/15/18 / #20180042687

Software center and highly configurable robotic systems for surgery and other uses

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. ... Intuitive Surgical Operations Inc

02/08/18 / #20180036087

Methods and systems for assigning input devices to teleoperated surgical instrument functions

A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument. The system further comprises a control system configured to detect at least one of an initial position or a configuration of an input device operably coupled to remotely control movement of the surgical instrument; and operably couple the first auxiliary input device to control the auxiliary function of the surgical instrument based on a position of the first auxiliary input device relative to a second auxiliary input device and the detecting of the at least one of the initial position or configuration of the input device operably coupled to remotely control the movement of the surgical instrument.. ... Intuitive Surgical Operations Inc

02/08/18 / #20180035895

Multi-cannula vision system

Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. ... Intuitive Surgical Operations Inc

02/01/18 / #20180031600

Integrated fiber bragg grating accelerometer in a surgical instrument

. . An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. ... Intuitive Surgical Operations Inc

02/01/18 / #20180028270

Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument

A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. ... Intuitive Surgical Operations Inc

02/01/18 / #20180028268

Software center and highly configurable robotic systems for surgery and other uses

Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. ... Intuitive Surgical Operations Inc

01/25/18 / #20180021517

Cannulas having wall strengthening features, and related systems and methods

A cannula may include a bowl portion comprising a first opening and a second opening, and an insertion tube extending from the bowl portion. The insertion tube defines a passage extending from the second opening and terminating in a distal end opening. ... Intuitive Surgical Operations Inc

01/25/18 / #20180021102

System and method for anatomical markers

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. ... Intuitive Surgical Operations Inc

01/25/18 / #20180021098

Surgical cannulas, and related systems and methods

A surgical cannula includes an electrically conductive portion, an electrical connector interface configured to removably engage with an electrical connector electrically coupled to a patient return electrode, and an electrical connector sensing device configured to sense whether the electrical connector interface is engaged or disengaged with the electrical connector. Surgical systems include surgical cannulas. ... Intuitive Surgical Operations Inc

01/25/18 / #20180021061

Cannulas having body wall retention features, and related systems and methods

A cannula may include a cannula bowl having an opening to receive an instrument configured to be advanced through the cannula, and a cannula tube extending distally from the cannula bowl. The cannula tube may have a proximal end opening, a distal end opening disposed at an opposite end of the cannula from the proximal end opening, and lateral wall defining a passage extending from the proximal end opening to the distal end opening. ... Intuitive Surgical Operations Inc

01/18/18 / #20180014895

Estimation of a position and orientation of a frame used in controlling movement of a tool

A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.. . ... Intuitive Surgical Operations Inc

01/18/18 / #20180014852

Surgical system instrument mounting

Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. ... Intuitive Surgical Operations Inc

01/11/18 / #20180010967

High precision wavelength measurement and control of a tunable laser

A tunable laser system includes a tunable laser to be scanned over a range of frequencies and an interferometer having a plurality of interferometer outputs. At least two interferometer outputs of the plurality of interferometer outputs have a phase difference. ... Intuitive Surgical Operations Inc

01/11/18 / #20180009987

Method of synthesizing near ir, closed chain sulfo-cyanine dyes

Compositions and methods of synthesizing near ir, closed chain, sulfo-cyanine dyes are provided.. . ... Intuitive Surgical Operations Inc

01/11/18 / #20180008125

Robotic linkage

A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. ... Intuitive Surgical Operations Inc

01/04/18 / #20180001058

Devices, systems, and methods for anchoring actuation wires to a steerable instrument

A pull wire attachment system for a minimally invasive medical instrument comprises an anchoring element fixedly attached to the medical instrument. The anchoring element has a first outer diameter. ... Intuitive Surgical Operations Inc

01/04/18 / #20180000329

Augmented visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image

An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. ... Intuitive Surgical Operations Inc

01/04/18 / #20180000314

Methods and apparatus for treatment of atrial fibrillation

A manipulation assembly includes a delivery catheter having a lumen extending therethrough and a deployment catheter positioned within the delivery catheter. The deployment catheter is independently manipulatable with respect to the delivery catheter. ... Intuitive Surgical Operations Inc

12/28/17 / #20170370705

Methods and apparatus to determine a twist parameter and/or a bend angle associated with a multi-core fibe

A multi-core fiber includes multiple optical cores, and for each different core of a set of different cores of the multiple optical cores, a total change in optical length is detected. The total change in optical length represents an accumulation of all changes in optical length for multiple segments of that different core up to a point on the multi-core fiber. ... Intuitive Surgical Operations Inc

12/28/17 / #20170370704

Dissimilar cores in multicore optical fiber for strain and temperature separation

An optical fiber includes multiple optical waveguides configured in the fiber. An interferometric measurement system mitigates or compensates for the errors imposed by differences in a shape sensing optical fiber's response to temperature and strain. ... Intuitive Surgical Operations Inc

12/28/17 / #20170367775

Motor interface for parallel drive shafts within an independently rotating member

Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. ... Intuitive Surgical Operations Inc

12/28/17 / #20170367767

Flexible electromagnetic sensor

A medical system employs a sensing coil that includes a flexible core containing a magnetically permeable material and an electrical conductor wound around the flexible core. The electrical conductor may be wound in a manner that permits use of the sensing coil in a range of configurations from straight to bent with a minimum radius of curvature.. ... Intuitive Surgical Operations Inc

12/28/17 / #20170367703

Handleless clamping device

The present invention relates to surgical clamps and clamp devices that provide a handle-free surgical field and to methods of operating such clamps and clamp devices. Such methods may include moving a second rotating element relative to a first rotating element such that the rotational axis of the second rotating element is not parallel to the rotational axis of the first rotating element and rotating the first rotating element about the rotational axis of the first rotating element to cause rotation of the second rotating element about the rotational axis of the second rotating element. ... Intuitive Surgical Operations Inc

12/21/17 / #20170363410

An overlapped chirped fiber bragg grating sensing fiber and methods and apparatus for parameter measurement using same

An optical sensor includes an optical fiber inscribed with densely-overlapping, chirped-frequency fiber bragg gratings at multiple locations along the optical fiber such that light reflected from a location on the optical fiber is reflected at multiple frequencies in a range of frequencies. An entire length of the optical sensor includes densely-overlapping, chirped-frequency fiber bragg gratings. ... Intuitive Surgical Operations Inc

12/21/17 / #20170360526

Ureter detection using waveband-selective imaging

Selective reflection of light by ureters and by tissue around the ureters is used to safely and efficiently image the ureters. In one aspect, a plurality of surgical site scenes is captured. ... Intuitive Surgical Operations Inc

12/14/17 / #20170354318

Methods and apparatus to shape flexible entry guides for minimally invasive surgery

An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. ... Intuitive Surgical Operations Inc

12/07/17 / #20170347912

Systems and methods for configuring components in a minimally invasive instrument

A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. ... Intuitive Surgical Operations Inc

11/30/17 / #20170340397

Inter-operative switching of tools in a robotic surgical system

Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. ... Intuitive Surgical Operations Inc

11/23/17 / #20170339399

Apparatus for automated panning and zooming in robotic surgical systems

In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.. . ... Intuitive Surgical Operations Inc

11/23/17 / #20170334067

System and method for instrument disturbance compensation

A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333275

System and method for integrated surgical table icons

A system and method for integrated surgical table icons includes a computer-assisted medical device. The computer-assisted medical device includes a control unit for controlling the computer-assisted medical device and a display unit coupled to the control unit having at least a surgical table status region. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333155

System and method for an articulated arm based tool guide

A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333147

Instrument drape

A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333146

System and method for articulated arm stabilization

A system and method for an articulated arm stabilization includes an arm stabilizer for use with articulated arms of a computer-assisted medical device. The stabilizer includes a spine, a first vibration absorbing mount attached to the spine, a second vibration absorbing mount attached to the spine, a first clamp attached to the first vibration absorbing mount, and a second clamp attached to the second vibration absorbing mount. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333145

System and method for monitoring control points during reactive motion

A system and method of monitoring control points during reactive motion includes a computer-assisted medical device. The computer-assisted medical device includes one or more articulated arms each having a control point and a control unit coupled to the one or more articulated arms. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333142

System and method for integrated surgical table motion

A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333141

System and method for integrated surgical table

A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333139

Interaction between user-interface and master controller

A system to control the interaction between a user-interface of a teleoperated surgical system and an input device of the teleoperated surgical system, the system comprising a first master controller communicatively coupled to the teleoperated surgical system, a feedback control communicatively coupled to the first master controller, and a display device communicatively coupled to the teleoperated surgical system and configured to display the user interface. The feedback control is configured to restrict the movement of the first master controller based on a state of the user interface changing from a previous state.. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333065

Surgical instrument with single drive input for two end effector mechanisms

Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A medical device includes an input link movable through an input link range of motion, a jaw coupled with the input link, and a tissue manipulation member coupled to the input link and positioned to manipulate a tissue gripped by the jaw. ... Intuitive Surgical Operations Inc

11/23/17 / #20170333037

Surgical instrument with stowing knife blade

A surgical instrument with a stowing knife blade includes an elongated shaft, an end effector coupled to the shaft and including two opposed jaws, a housing included in one of the jaws, a first member mounted in the housing and movable distally, a knife pivotally coupled with the first member, and a second member. The knife is configured to cut when advanced distally. ... Intuitive Surgical Operations Inc

11/16/17 / #20170325896

Systems and methods for filtering localization data

A method performed by a computing system comprises providing instructions to a teleoperational assembly to move an instrument within an anatomic passageway according to a commanded velocity profile. The method also comprises receiving a set of spatial information from the instrument positioned within the anatomic passageway and filtering the set of spatial information to select a quantity of spatial data records from the set of spatial information proportionate to the commanded velocity profile.. ... Intuitive Surgical Operations Inc

11/16/17 / #20170325812

Instrument with multiple articulation locks

A tool comprises an articulation mechanism comprising a pair of links. The pair of links include a proximal link on a proximal portion of the tool and a distal link on a distal portion of the tool. ... Intuitive Surgical Operations Inc

11/16/17 / #20170325799

Universal cannula seal

A medical device can include a housing, a first seal structure, and a seal expander. The first seal structure can have a proximal end and a distal end, and a side wall surrounding and defining an interior chamber. ... Intuitive Surgical Operations Inc

11/09/17 / #20170322113

Registering measured optical fiber interferometric data with reference optical fiber interferometric data

A system and method are used for an optical fiber having a core multiple, closely spaced optical gratings written along the core that create a repeated pattern in the core. A memory stores predetermined reference reflection data and measurement reflection data determined for a length of the core detected from interferometric patterns corresponding to scatter reflections received from the core. ... Intuitive Surgical Operations Inc

11/09/17 / #20170319284

Method and system for hand presence detection in a minimally invasive surgical system

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. ... Intuitive Surgical Operations Inc

11/09/17 / #20170319283

User-interface control using master controller

A system for controlling a user interface of a teleoperated surgical system, the system comprises a first master controller communicatively coupled to the teleoperated surgical system; and a display device communicatively coupled to the teleoperated surgical system and configured to display a graphical user interface; and wherein the first master controller is configured to transmit a first input signal to an interface controller, the first input signal caused by manual manipulation of the first master controller, the interface controller to use the first input signal to update a graphical user interface presented by the display device.. . ... Intuitive Surgical Operations Inc

11/09/17 / #20170319282

Integrated user environments

A system for managing a user interface comprising: a first teleoperated surgical system comprising: a communications subsystem configured to receive at the first teleoperated surgical system from a second teleoperated surgical system, an environmental variable describing operation of the second teleoperated surgical system; a video subsystem to: render a local scene at the first teleoperated surgical system, the local scene representing a state of operation of the first teleoperated surgical system; render a remote scene at the first teleoperated surgical system, the remote scene representing a state of operation of the second teleoperated surgical system and the remote scene based at least in part on the environmental variable; composite the local scene and the remote scene to produce a composite scene; and present the composite scene to a user of the first teleoperated surgical system.. . ... Intuitive Surgical Operations Inc

11/09/17 / #20170319049

System for controlling an instrument using shape sensors

The present invention relates, generally, to controlling a steerable instrument having an elongate body. More particularly, the present invention relates to a system and method for sensing the shape of a steerable instrument and controlling the steerable instrument in response to a control signal from a user input device and a shape signal corresponding to the sensed shape of at least a portion of the steerable instrument. ... Intuitive Surgical Operations Inc

10/26/17 / #20170305016

Tool position and identification indicator displayed in a boundary area of a computer display screen

An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a gui indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. ... Intuitive Surgical Operations Inc

10/26/17 / #20170304014

Tension control in actuation of multi-joint medical instruments

Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. ... Intuitive Surgical Operations Inc

10/26/17 / #20170304012

Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.. ... Intuitive Surgical Operations Inc

10/12/17 / #20170290586

Stapling cartridge

A stapling cartridge having an elongated rail that provides support to a moveable clamping element and resists pulling or spreading forces caused by compressing and cutting tissue. The elongated rail can directly connect the stapling cartridge to the lower jaw and completely carry the moveable clamping element, which can couple and decouple to an anvil of an upper jaw.. ... Intuitive Surgical Operations Inc

10/05/17 / #20170283384

Psma targeted fluorescent agents for image guided surgery

Compositions and methods for visualizing tissue under illumination with near-infrared radiation, including compounds comprising near-infrared, closed chain, sulfo-cyanine dyes and prostate specific membrane antigen ligands are disclosed.. . ... Intuitive Surgical Operations Inc

10/05/17 / #20170282372

Synthetic representation of a surgical robot

A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. ... Intuitive Surgical Operations Inc

10/05/17 / #20170281298

Optic fiber connection for a force sensing instrument

In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (awg) multiplexer. ... Intuitive Surgical Operations Inc

10/05/17 / #20170281296

Apparatus for pitch and yaw rotation

The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. ... Intuitive Surgical Operations Inc

10/05/17 / #20170281288

Flexible medical instrument

A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. ... Intuitive Surgical Operations Inc

10/05/17 / #20170281287

System with guides and tools of different flexibility

A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. ... Intuitive Surgical Operations Inc








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