Intuitive Surgical Operations, Inc.

Immersion Corporation

Fresh Health Inc.

X Development LLC

Intuitive Surgical, Inc.

Other

Microscribe, LLC

Google Inc.

Bruce M Schena

Louis B Rosenberg

Gregory William Dachs, Ii

Roman L Devengenzo

Paul W Mohr

David Q Larkin

Thomas G Cooper

William C Nowlin

Gary S Guthart

Adam C Braun

Kenneth M Martin

Niels Smaby

Nicola Diolaiti

William A Burbank

Pushkar Hingwe

Erik James Shahoian

David W Robinson

Tyler J Morrissette

S Christopher Anderson

Michael Lee Hanuschik

David F Moore

Joseph Orban, Iii

Arjang M Hourtash

Thomas R Nixon

Randal P Goldberg

Nitish Swarup

Eugene F Duval

Alan Eton Loh

Gary C Ettinger

Bernard G Jackson

Amir Hossein Chaghajerdi

Scott Osborne Luke

Michael D Levin

Mark W Zimmer

Todd E Murphy

Christopher J Hasser

William A McDonald, Ii

Matthew R Cavalier

Angela Junyan Chu

Kristina Jenna Cook

Jason Jiang

Stephen J Blumenkranz

Daniel H Gomez

Todd R Solomon

Kollin M Tierling

Dean F Hoornaert

Allen C Thompson

Gerald Thomas Ryle

Kyle Geoffrey Mooney

Catherine J Mohr

Gregory Allen Springer

Edward P Donlon

Paul Millman

Craig Tsuji

Steven P Vassallo

Alexander Jasso

John Stiggelbout

Charles H Klieman

Thomas W Brown

Scott B Brave

David L Martin

Donald Alden

Henry Hazebrouck

Michael Prindiville

Ian E McDowall

David W Bailey

Allen R Boronkay

David C Shafer

Jeffrey Bingham

Alan W Petersen

John W Zabinski

Margaret M Nixon

Mike D Levin

Sophie Katherine Sheeline

Ryan Christopher Evans

Jonathan Riley Cox

Tao Zhao

Brandon D Itkowitz

Lawrence K Lam

William Riis Hamburgen

Paul G Griffiths

Jeffrey Y Hayashida

Simon Peter DiMaio

Andreas Georg Nowatzyk

Jonathan Michael Sorger

David W Weir

John Stuart Fitch

Kelvin Kwong

Melody Wu

Lawton N Verner

Yi Tao

Robert C Reid

James Cooper

John A Barton

Ryan D Bruneau

Jonathan D Halderman

Alex Shafer

Kiarash Vakhshouri

Derek C Liou

Avi Hecht

A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.

Instrument carriage assembly for surgical system

An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators and may be shaped to provide a loose form fit around the carriage. A stiffener is coupled to the pouch around a second opening in the pouch to provide an area that is less elastic than the remainder of the pouch. An instrument sterile adapter (ISA) may be coupled to the second opening in the pouch. The ISA may include a bottom plate and a top plate located on opposite sides of the pouch and joined together. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.

Sterile barrier between surgical instrument and teleoperated actuator

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. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.

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

An oral insert includes a plurality of manifolds and a plurality of fluid nozzles. A manifold switch is coupled to the plurality of manifolds. The manifold switch is configured to select which of the plurality manifolds is to receive fluid from a fluid source.

Cleaning device for teeth

Described herein are systems and methods for providing personalized oral irrigation. One variation of a system for personalized oral irrigation comprises a fluid reservoir and a customized oral insert in fluid communication with the fluid reservoir. The oral insert comprises an arrangement of fluid openings positioned based on the individual oral or dental structures of a user's teeth to provide a customized fluid flow over the user's teeth. Also described herein are methods for generating an arrangement of fluid openings in a customized oral insert.

Systems and methods for personalized oral irrigation

An oral care system includes a fluid reservoir, a check intake valve, and a pump configured to cause fluid to be provided from fluid reservoir to an oral insert of the oral care system via the check intake valve. The fluid reservoir includes one or more fluid flow disrupters. The check intake valve is located at an offset from a center of the fluid reservoir.

Disrupting fluid flow in a fluid reservoir

An oral insert includes a plurality of bristles and a plurality of fluid nozzles. The plurality of bristles is located on an upper portion and a lower portion of a tray surface of the oral insert. The plurality of fluid nozzles is located at an inner portion and an outer portion of the tray surface. Fluid output by the plurality of fluid nozzles causes the plurality of bristles to contact surfaces of teeth associated with a user of the oral insert.

Oral health device for simultaneously brushing the surfaces of and cleaning the interproximal spaces between a user's teeth

A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

Inter-operative switching of tools in a robotic surgical system

An image capture unit has mounted in a frame: a first imaging assembly, a first circuit board, a second imaging assembly, and a second circuit board. The first imaging assembly is mounted on the first circuit board. The second imaging assembly is mounted on the second circuit board. A portion of the first circuit board and a portion of the second circuit board have a stacked configuration with the portion of the first circuit board being approximately parallel to the portion of the second circuit board. An end of another portion of the first circuit board is adjacent to an end of another portion of the second circuit board.

Compact stereoscopic image capture unit

Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.

Low friction cannula seals for minimally invasive robotic surgery

A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

Coupler to transfer motion to surgical instrument from teleoperated actuator

An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.

Alignment and engagement for teleoperated actuated surgical instrument

Fluid is provided to a manifold selected among a plurality of manifolds associated with an oral insert. Each of the plurality of manifolds is associated with a same expected performance within a threshold tolerance. An actual performance of the manifold is determined based on a pressure and a flow rate associated with providing the fluid to the manifold. A performance of the oral insert is verified based on whether the actual performance of the manifold matches the same expected performance within a threshold tolerance.

Verifying a performance of an oral insert

Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

Motor interface for parallel drive shafts within an independently rotating member

A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body to move the pair of clamping components between a first state to unclamp a cannula mounted at the cannula mount and a second state to clamp a cannula mounted at the cannula mount. Pivoting motion of the latch assembly relative to the body causes a portion of the latch assembly to slide along the clamping component and change a state of the pair of clamping components from an unlocked state to a locked state in the second state of the pair of clamping components.

Surgical cannula mounts and related systems and methods

Growing community of inventors

Menlo Park, CA, United States of America

Bruce M Schena