Intuitive Surgical Patent Applications

Endoscope with Distal Hermetically Sealed Sensor

Granted: June 22, 2017
Application Number: 20170172394
In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between…

SYSTEM AND METHOD FOR ALIGNING WITH A REFERENCE TARGET

Granted: June 22, 2017
Application Number: 20170172670
A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints…

Surgical Instrument with Shiftable Transmission

Granted: June 22, 2017
Application Number: 20170172672
A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

GUIDED SETUP FOR TELEOPERATED MEDICAL DEVICE

Granted: June 22, 2017
Application Number: 20170172674
A teleoperational medical system for performing a medical procedure in a surgical field includes a dynamic guided setup system having step-by-step setup instructions for setting up a teleoperational assembly having at least one motorized surgical arm configured to assist in a surgical procedure. It also includes a user interface configured to communicate the step-by-step setup instructions to a user. The dynamic guided setup system is configured to automatically recognize completion of a…

MEDICAL DEVICES, SYSTEMS, AND METHODS USING EYE GAZE TRACKING

Granted: June 22, 2017
Application Number: 20170172675
Described herein is a teleoperational medical system for performing a medical procedure in a surgical field. The teleoperational system comprises an eye tracking unit and a control unit. The eye tracking unit includes an image display configured to display to a user an image of the surgical field, at least one eye tracker configured to measure data about a gaze point of the user, and a processor configured to process the data to determine a viewing location in the displayed image at…

SURGICAL INSTRUMENT SHAFT

Granted: June 22, 2017
Application Number: 20170172677
A surgical instrument may include a shaft, a force transmission mechanism, and an end effector. The shaft may have a proximal end and a distal end. The force transmission mechanism may be coupled to the proximal end of the shaft. The end effector may be coupled to the distal end of the shaft. The shaft may include a body having an outer surface and an inner surface. The inner surface may surround a lumen configured to receive a drive member that extends through the lumen. The outer…

MEDICAL ROBOTIC SYSTEM PROVIDING SENSORY FEEDBACK INDICATING A DIFFERENCE BETWEEN A COMMANDED STATE AND A PREFERRED POSE OF AN ARTICULATED INSTRUMENT

Granted: June 22, 2017
Application Number: 20170173788
A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to…

SYSTEMS AND METHODS FOR MOTOR TORQUE COMPENSATION

Granted: June 22, 2017
Application Number: 20170179857
A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.

SURGICAL SYSTEM WITH VARIABLE ENTRY GUIDE CONFIGURATIONS

Granted: June 8, 2017
Application Number: 20170156803
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 (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so…

THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA

Granted: May 11, 2017
Application Number: 20170127912
The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target…

USER SELECTION OF ROBOTIC SYSTEM OPERATING MODES USING MODE DISTINGUISHING OPERATOR ACTIONS

Granted: May 11, 2017
Application Number: 20170129108
A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

MECHANICAL WRIST JOINTS WITH ENHANCED RANGE OF MOTION, AND RELATED DEVICES AND METHODS

Granted: May 4, 2017
Application Number: 20170120457
A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, and a drive tendon that extends through the first disc and the second disc. The first disc and the second disc may include respective opposing joint features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces separate from the joint features. The drive tendon may exert a force on at least one of the first…

SURGICAL SYSTEM INCLUDING A NON-WHITE LIGHT GENERAL ILLUMINATOR

Granted: April 27, 2017
Application Number: 20170112354
Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

Automatic Push-Out to Avoid Range of Motion Limits

Granted: April 27, 2017
Application Number: 20170112580
Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. In some embodiments, actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the…

RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT

Granted: April 27, 2017
Application Number: 20170112582
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the…

SURGICAL CANNULAS AND RELATED SYSTEMS AND METHODS OF IDENTIFYING SURGICAL CANNULAS

Granted: April 20, 2017
Application Number: 20170105811
A cannula for a surgical system may include a magnet located in a position to be sensed by the surgical system in a mounted position of the cannula to the surgical system. At least one of a presence of the magnet and a polarity of the magnet is sensed in the mounted position of the cannula to provide identification information relating to the cannula. Exemplary embodiments further encompass a patient side cart for a teleoperated surgical system, the patient side cart including a base, a…

ANGLED ENDOSCOPE TIP IMAGE CAPTURE UNIT

Granted: April 6, 2017
Application Number: 20170095142
A family of endoscopes includes a non-zero degree endoscope (210) and a zero degree endoscope (200). Zero degree endoscope (210) includes a first image capture unit (220A) mounted in a distal portion (270A) of the zero degree endoscope with a lengthwise axis of the first image capture unit substantially parallel to a lengthwise axis of that distal portion. Non-zero degree endoscope (210) includes a second image capture unit (220B) mounted in a distal portion (270B) of the non-zero degree…

CANNULA SEAL ASSEMBLY

Granted: April 6, 2017
Application Number: 20170095269
Gas-tight seal assemblies for use during minimally invasive surgery include various aspects. A wiper seal includes a sealing portion and a surrounding flex portion. Upper and lower faces of the sealing portions are angled with reference to an inserted instrument, the upper face's angle being more acute with reference to the instrument's shaft than the lower face's angle. The flex portion is corrugated, support ribs are in one or more corrugation grooves, and the support ribs allow the…

SYSTEM AND METHOD FOR TISSUE CONTACT DETECTION AND FOR AUTO-EXPOSURE AND ILLUMINATION CONTROL

Granted: April 6, 2017
Application Number: 20170095297
Scenes captured with an endoscope (201) of a teleoperated surgical system (200) and displayed on a display unit (251) maintain a consistent brightness even though optical output power of an illuminator (210) changes, and working distance (204) between tissue (203) and the distal tip of the endoscope changes. Teleoperated surgical system (200) also automatically detects when endoscope (201) contacts tissue (203) and adjusts the output optical power of illuminator (210) so that tissue…

MANIPULATOR ARM HAVING CONNECTION INTERFACE, AND RELATED DEVICES AND SYSTEMS

Granted: April 6, 2017
Application Number: 20170095300
A surgical instrument support arm of a teleoperated patient side cart may include a first arm portion including a first connector end and a second a second arm portion including a second connector end. The second arm portion may be removably connectable to the first arm portion via mating engagement of the first and second connector ends. The first and second connector ends may each include complementary mechanical connections and complementary electrical connections. At least one of the…