Intuitive Surgical Operations, Inc.

Reflexion Medical, Inc.

Intuitive Surgical, Inc.

The Johns Hopkins University

David Q Larkin

Paul W Mohr

Thomas G Cooper

Giuseppe Maria Prisco

Catherine J Mohr

William C Nowlin

Brian David Hoffman

Bruce M Schena

Tao Zhao

Gary S Guthart

David Joseph Rosa

Vincent Duindam

Nicola Diolaiti

Nitish Swarup

Michael Lee Hanuschik

Thomas R Nixon

David S Mintz

David C Shafer

Rajesh Kumar

Wenyi Zhao

Simon Peter DiMaio

Christopher J Hasser

Paul Millman

Brandon D Itkowitz

Stephen J Blumenkranz

Paul E Lilagan

Daniel J Halabe

Paul G Griffiths

Michael R Costa

Gregory K Toth

Guanghua G Zhang

Steven J Colton

David W Robinson

John Ryan Steger

Peter D Olcott

Randal P Goldberg

Jason W Hemphill

Yulun Wang

Frederic H Moll

Darrin R Uecker

Gunter D Niemeyer

Eugene F Duval

Daniel H Gomez

David W Bailey

J Kenneth Salisbury, Jr

Simon P Dimaio

James W Wright

Amante A Mangaser

Modjtaba Ghodoussi

Dean F Hoornaert

Tabish Mustufa

Dorin Panescu

Matthew Reagan Williams

Rostem Bassalow

Yevgen Voronenko

Brent Harper

Ranjan Mauherjee

Theodore W Rogers

Russell H Taylor

Peter M Herzlinger

Probal Mitra

Peter Kazanzides

Michael Kirk Owens

Layton Hale

Joshua Leven

David Meer

Anton Deguet

David Nett

Kent M Anderson

Anthony K McGrogan

Jeffrey D Brown

Tracey Ann Morley

Samuel Mazin

Michael Ikeda

Balazs Peter Vagvolgyi

Theodore C Walker

George Andrew Zdasiuk

Tabish Mustafa

William Knapp

John Harry Magnasco

Chris A Julian

Robert Thomas Wiggers

Salvatore J Brogna

Ranjan Mukherjee

Tom Nixon

Jayakrishnan Janardhanan

Debashish Pal

Theordore C Walker

Nitish Swamp

William Pearce

Gary Guthurt

Bálazs Peter Vágvölgyi

Theodeore Charles Walker

Victor Carboni

Tracey Ann Morely

Brent Dolan

William Jorge Pearce

Guiseppe Marie Prisco

Matthew R c/o Intuitive Surgical Inc Williams

A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate, hollow shaft having a proximal end, a distal end, and a flexible section. The surgical instrument further includes a sensor apparatus configured to generate sensor data about the flexible section and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to at least the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding stiffness of the surgical instrument to derive an internal actuation force applied by the force transmission mechanism.

Arm with a combined shape and force sensor

A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.

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

A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera configured to capture an image of a camera field of view. The system further comprises an input device, a display, and a processor. The processor is configured to display a first synthetic image including a first synthetic image of the tool. The first synthetic image of the tool includes a portion of the tool outside of the camera field of view. The processor is also configured to receive a user input at the input device and responsive to the user input, change the display of the first synthetic image to a display of a second synthetic image including a second synthetic image of the tool that is different from the first synthetic image of the tool.

Synthetic representation of a surgical robot

A surgical system comprises a manipulator arm and a surgical instrument. The surgical instrument includes: a transmission mechanism including a plurality of interface members; and an elongate body extending from the transmission mechanism. The surgical system further includes an instrument mounting structure mounted to the manipulator arm. The transmission mechanism of the surgical instrument is removably couplable to the instrument mounting structure. The instrument mounting structure includes a plurality of actuator members and a passage defined within the instrument mounting structure. When the surgical instrument is coupled to the instrument mounting structure: the plurality of interface members mate with the plurality of actuator members; and the elongate body of the surgical instrument extends between at least some of the plurality of actuator members and through the passage.

Minimally invasive surgical system

A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.

Steerable flexible needle with embedded shape sensing

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

Rendering tool information as graphic overlays on displayed images of tools

A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

Robotic surgery system including position sensors using fiber Bragg gratings

Disclosed herein are systems and methods for adapting and/or updating radiotherapy treatment plans based on biological and/or physiological data and/or anatomical data extracted or calculated from imaging data acquired in real-time (e.g., during a treatment session). Functional imaging data acquired at the time of radiation treatment is used to modify a treatment plan and/or dose delivery instructions to provide a prescribed dose distribution to patient target regions. Also disclosed herein are methods for evaluating treatment plans based on imaging data acquired in real-time.

Systems and methods for biological adaptive radiotherapy

Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

Indicator for tool state and communication in multi-arm robotic telesurgery

Disclosed herein are methods for patient setup and patient target region localization for the irradiation of multiple patient target regions in a single treatment session. Virtual localization is a method that can be used to register a patient target region without requiring that the patient is physically moved using the patient platform. Instead, the planned fluence is updated to reflect the current location of the patient target region by selecting a localization reference in the localization image, calculating a localization function based on the localization reference point, and calculating the delivery fluence by convolving the localization function with a shift-invariant firing filter. Mosaic multi-target localization partitions a planned fluence map for multiple patient target regions into sub-regions that can be individually localized. De-coupled multi-target localization involves generating a separate planned fluence map for each target but constraining a cumulative fluence map to ensure dosimetric goals are met.

Multi-target treatment planning and delivery and virtual localization for radiation therapy

A method of operating a shape sensing apparatus comprises receiving shape data from a first shape sensor. The first shape sensor includes a first plurality of optical cores extending between a first section and a second section of an elongated optical fiber. The method further comprises receiving shape data from a second shape sensor. The second shape sensor includes a second plurality of optical cores extending between the first and second sections of the elongated optical fiber. The method further comprises determining a shape of the elongated optical fiber between the first and second sections by combining the shape data from the first and second shape sensors.

Shape sensor systems with redundant sensing

In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.

Medical robotic system with coupled control modes

Disclosed herein are systems and methods for rapidly delivering high doses of radiation, also known as, flash dose radiotherapy or flash radiotherapy. One variation of a system for flash radiotherapy has a plurality of therapeutic radiation sources on a support structure (e.g., a gantry or arm) and configured to toward a patient target region, and a controller in communication with all of the therapeutic radiation sources. The controller is configured to activate the plurality of therapeutic radiation sources simultaneously so that the patient target region rapidly receives a high dose of radiation, e.g. the entire prescribed dose of radiation. In some variations, a flash radiotherapy system has a pulsed, high-power source that may be used to generate an X-ray pulse that delivers a dose having a dose rate from about 7.5 Gy/s to about 70 Gy/s. Flash radiotherapy systems may also include one or more imaging systems mounted on the support structure.

Flash dose radiotherapy systems and methods

A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.

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. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.

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

Growing community of inventors

Menlo Park, CA, United States of America

David Q Larkin