Intuitive Surgical Patent Applications

SYSTEM AND METHOD FOR SPECULAR REFLECTION DETECTION AND REDUCTION

Granted: January 19, 2017
Application Number: 20170014029
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…

ROBOTIC LINKAGE

Granted: January 5, 2017
Application Number: 20170000315
A method may include articulating a first link and a second link relative to each other about a pair of outer hinge portions on a first end of a first link and in mating engagement with a pair of inner hinge portions on a second end of a second link. Each outer hinge portion comprises an outer ear extending in a first axial direction away from the first end of the first link, and an inner bearing surface substantially oriented in the first axial direction, and each inner hinge portion…

SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS

Granted: January 5, 2017
Application Number: 20170000574
A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a…

METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE

Granted: December 29, 2016
Application Number: 20160374676
A method of controlling a surgical stapler system includes transmitting an actuation force to a staple cartridge to actuate a staple firing procedure, the staple cartridge being removably received by a portion of an end effector of a surgical instrument, measuring the transmitted actuation force, and controlling continued transmission of the actuation force based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum…

METHOD AND SYSTEM FOR MOVING A PLURALITY OF ARTICULATED INSTRUMENTS IN TANDEM BACK TOWARDS AN ENTRY GUIDE

Granted: December 29, 2016
Application Number: 20160374767
A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The…

Method for Engaging Surgical Instrument with Teleoperated Actuator

Granted: December 15, 2016
Application Number: 20160361126
A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the…

METHOD FOR VIDEO PROCESSING USING A BUFFER

Granted: December 8, 2016
Application Number: 20160360159
A method for processing video can include storing input video frame data at a video data buffer and outputting the stored video frame data from the video data buffer at an output video frame rate based on at least an amount of video frame data stored at the video data buffer.

SYSTEM AND METHOD FOR DYNAMIC VIRTUAL COLLISION OBJECTS

Granted: December 1, 2016
Application Number: 20160345929
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. The control unit is configured to determine a position of a first movable segment of the medical device, a volume occupied by the first movable segment being approximated by one or more first virtual collision objects (VCOs); adjust, based on the position and motion goals…

ADAPTABLE INTEGRATED ENERGY CONTROL SYSTEM FOR ELECTROSURGICAL TOOLS IN ROBOTIC SURGICAL SYSTEMS

Granted: November 24, 2016
Application Number: 20160338786
A teleoperated surgical system may comprise a plurality of teleoperated surgical instruments; a user input device; and a controller operably coupled to the user input device and to the plurality of surgical instruments. The user input device may be configured to transmit an activation command to cause activation of a function of a first one of the plurality of surgical instruments in response to input at the user input device, the function being supported by remote-control supply…

METHOD AND APPARATUS TO PROVIDE UPDATED PATIENT IMAGES DURING ROBOTIC SURGERY

Granted: November 24, 2016
Application Number: 20160338797
In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are 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. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display…

METHODS AND APPARATUS FOR DISPLAYING THREE-DIMENSIONAL ORIENTATION OF A STEERABLE DISTAL TIP OF AN ENDOSCOPE

Granted: November 17, 2016
Application Number: 20160331331
The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present…

TELESCOPING BIOPSY NEEDLE

Granted: November 17, 2016
Application Number: 20160331358
What is described is a minimally invasive system comprising an elongate sheath and an elongate instrument slidably disposed within a lumen of the sheath. The sheath includes a flexible tube portion including a plurality of slots, a sheath element, and a rigid tube section, wherein the flexible tube portion is fixedly coupled to a distal end of the sheath element, and the rigid tube section is fixedly coupled to a distal end of the flexible tube. The lumen extends through the sheath…

APPARATUS AND METHOD FOR ENDOSCOPIC COLECTOMY

Granted: November 17, 2016
Application Number: 20160331376
Apparatus and methods for endoscopic colectomy are described herein. A colectomy device having a first and a second tissue approximation device is mounted on a colonoscope separated from one another. During deployment of the colectomy device, a diseased portion of the colon is positioned inbetween the tissue approximation devices. The tissue approximation devices are radially expanded such that they contact and grasp the colon wall at two sites adjacent to the diseased portion of the…

SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION

Granted: November 10, 2016
Application Number: 20160324588
A method of controlling a surgical instrument comprising an end effector may comprise detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position; and automatically controlling operation of the end effector component when a second signal is not detected within a predetermined delayed response time period after detecting the first signal, wherein the second signal indicates that the end effector…

INSTRUMENT INTERFACE

Granted: October 27, 2016
Application Number: 20160310115
A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the…

SIMULATOR SYSTEM FOR MEDICAL PROCEDURE TRAINING

Granted: October 27, 2016
Application Number: 20160314710
Implementations relate to medical simulations for medical procedure training. In some implementations, a system includes a simulation processing component including at least one processor and which generates a virtual environment using position signals that describe at least one of a position and a configuration of a physical surgical instrument relative to a physical surgical site. The simulation processing component updates the virtual environment according to changes in the position…

Catheter Sensor Systems

Granted: October 20, 2016
Application Number: 20160302873
A medical system comprises a catheter having a first section, a second section and a main lumen extending through the first and second sections. The system also includes an imaging probe sized to extend through the main lumen of the catheter. The system also includes a first electromagnetic sensor extending along a longitudinal sensor axis at a proximal end of the first section and a second electromagnetic sensor extending along the longitudinal sensor axis at a distal end of the first…

DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL TIME, PARTICULARLY FOR GUIDANCE BY LOCATION

Granted: October 13, 2016
Application Number: 20160296137
The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises , a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the…

GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS

Granted: September 29, 2016
Application Number: 20160279801
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…

TOOL MEMORY-BASED SOFTWARE UPGRADES FOR ROBOTIC SURGERY

Granted: August 25, 2016
Application Number: 20160242859
Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor…