Auris Health, Inc.

Intuitive Surgical Operations, Inc.

Auris Surgical Robotics, Inc.

Shalon Ventures, Inc.

Intuitive Surgical, Inc.

Airxpanders, Inc.

Other

Topcon Medical Laser Systems, Inc.

Airx Bioscience, LLC

David S Mintz

Yanan Huang

David Q Larkin

Gunter D Niemeyer

William C Nowlin

Brandon D Itkowitz

Alan L Yu

Prasanth Jeevan

Gregory J Kintz

Atiyeh Ghoreyshi

Simon Peter DiMaio

Travis Michael Schuh

David Michael Schummers

Yoichiro Dan

Jeffery B Alvarez

Matthew Reagan Williams

Enrique Romo

Joseph Bogusky

Frederic H Moll

Bruce Robert Woodley

Nicholas J Eyre

Tracey Ann Morley

Jason Tomas Wilson

Charles Vernon Stewart

Gehua Yang

Matthew Joseph Leotta

Yiliang Xu

Gary S Guthart

David W Bailey

Michael Lee Hanuschik

J Kenneth Salisbury, Jr

Paul Millman

Dean F Hoornaert

Colin Allen Wilson

Sven Wehrmann

Mark A Lown

Theodore C Walker

Amir Belson

Robert G Younge

Roman L Devengenzo

Thomas R Nixon

Christopher Scott Jones

Tadmor Shalon

Serena H Wong

Ritwik Ummalaneni

Craig A Purdy

Kevin Durant

Daniel Jacobs

Hedyeh Rafii-Tari

F Mark Payne

Ryan S Han

Robert Eno

David Blaha

Simon P Dimaio

Allen Jiang

Travis C Covington

Christopher K Sramek

Varun Agrawal

Greg Kintz

Günter D Niemeyer

Sean Patrick Kelly

Thomas G Cooper

Keith Phillip Laby

Robert Matthew Ohline

Joshua T Oen

Jian Zhang

Aren Calder Hill

Alexander Tarek Hassan

Ying Mao

Paxton H Maeder-York

Joshua F DeFonzo

Andrew F O'Rourke

Steve Burion

Michael Shyh-Yen Ho

Jason Lee

Edward Joseph Menard

Siddharth Oli

Nima Sarli

Katherine A Bender

Theordore C Walker

Stephen J Blumenkranz

Nitish Swarup

Daniel V Palanker

David Joseph Rosa

John Harry Magnasco

Andris D Ramans

Michael J Tierney

Barry S Seibel

Salvatore J Brogna

Fred Moll

Ryan J Murphy

Jeffrey B Alvarez

Siddarth Oli

Gary Guthurt

Gregory Kintz

Theodeore Charles Walker

Jason Thomas Wilson

Caitlin Marie Romanczyk

Tracey Ann Morely

Christopher Sramek

Techniques for facilitating the removal of material from an anatomical structure with a robotic system are discussed herein. For example, the robotic system can include a first robotic component configured to control movement of a first device and a second robotic component configured to control movement of a second device. The first device and the second device can be controlled within a chamber of the anatomical structure to remove material from the chamber. For instance, the first device can be controlled to emit energy to break up the material into pieces and the second device can be controlled to remove the pieces from the chamber. In some cases, the first device can be controlled to gradually vary a parameter associated with the first device between a first value and a second value.

Robotic assisted procedures

An object sizing system sizes an object positioned within an anatomical feature. The object sizing system navigates an elongate body to a location within an anatomical feature and proximate to the object. An imaging sensor coupled to the elongate body captures images of the object. The object sizing system captures the object with a basket. The object sizing system captures an image of the object with the imaging sensor. The object sizing system detects a basket marker in the captured image. The object sizing system determines a distance from the object to the imaging sensor based on the detected basket marker. The object sizing system determines an estimated size of the object based at least in part on the distance.

Endolumenal object sizing

An endolumenal robotic system provides the surgeon with the ability to drive a robotically-driven endoscopic device to a desired anatomical position in a patient without the need for awkward motions and positions, while also enjoying improved image quality from a digital camera mounted on the endoscopic device.

Endoscopic device with helical lumen design

A robotically enabled teleoperated system can include a controller and a robotic tool capable of manipulation by the controller. The controller can include a handle, a gimbal and a positioning platform. The handle can be configured for actuation by an operator to cause a corresponding manipulation of the robotic tool. The gimbal can include a joint and a load cell. The joint can be configured to be manipulated based on an impedance control, such that manipulation of the gimbal causes a corresponding manipulation of the robotic tool based on a displacement of the joint. A portion of the positioning platform can be configured to be manipulated based on an admittance control, such that manipulation of the positioning platform causes a corresponding manipulation of the robotic tool based on a force imparted on the controller and measured by the load cell.

Controllers for robotically enabled teleoperated systems

Techniques for ratcheting an alignment between an input means and an instrument include a teleoperated system comprising a robotic means configured to support an instrument, an input means configured to be manipulated by an operator to command motion of the instrument, and a ratcheting means. The ratcheting means is configured to determine first rotation values describing an orientation of the input means; determine second rotation values describing an orientation of the instrument; determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument; generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument; and command the robotic means to move in accordance with the motion command.

Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument

Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.

Workspace optimization for robotic surgery

Robotic medical systems can be capable of kinematic optimization using shared robotic degrees-of-freedom. A robotic medical system can include a patient platform, an adjustable arm support coupled to the patient platform, and at least one robotic arm coupled to the adjustable arm support. The at least one robotic arm can be coupled to a medical tool. The robotic medical system includes a first link and a second link. Each of the first link and the second link includes a first end coupled to the adjustable arm support and a second end coupled to a base of the patient platform, for rotating the adjustable arm support relative to the patient platform. The robotic medical system can also include a processor configured to adjust a position of the adjustable arm support and the at least one robotic arm while maintaining a remote center of movement of the medical tool.

Systems and methods for kinematic optimization with shared robotic degrees-of-freedom

A robotic surgical system can include one or more adjustable arm supports that support one or more robotic arms. The adjustable arm supports and/or robotic arms can be configured to be deployed from low mount positions, for example, from positions below the surface of the table. The robotic arms can include a plurality of joints providing a plurality of degrees of freedom. The joints may be grouped into a proximal shoulder, an elbow, and a distal wrist. The robotic arms can include one or more redundant degrees of freedom. An insertion mechanism, associated with the robotic arm and configured for providing insertion of an instrument along an assertion axis, can be provided at a distal end of the robotic arms.

Surgical robotics systems with improved robotic arms

Floating electromagnetic field generator systems and methods are provided. The system comprises a surgical bed portion. The system also comprises a brace component disposed within the surgical bed portion. Additionally, the system comprises a first arm that is attached to the brace component. The first arm is positioned adjacent to the surgical bed portion. Additionally, the first arm has at least one field generator coil embedded therein. The system also comprises a second arm that is attached to the brace component. The second arm is positioned adjacent to the surgical bed portion. Additionally, the second arm has at least one field generator coil embedded therein. The second arm is positioned parallel to the first arm.

Floating electromagnetic field generator system and method of controlling the same

Robotic medical systems may perform robotic movement that is saturated according to one or more constraints of the system. A robotic system can include a robotic arm configured to control a medical instrument. The robotic system can receive a first user input from a user for moving the robotic arm to control the medical instrument. The robotic system can guide the movement of the robotic arm along a collision boundary surrounding an object in accordance with the first user input and one or more secondary constraints.

Systems and methods for saturated robotic movement

A method for controlling an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion may include receiving an input command at a controller for articulation of said steerable distal portion, the articulation correlating to an approximate y-bend and an approximate x-bend of said steerable distal portion; calculating an approximate overall bend from said approximate y-bend and said approximate x-bend; and setting a limit of said approximate overall bend beyond which said steerable distal portion is not permitted to achieve. The method may further include one of: causing actuation of said at least one tensioning member to achieve said y-bend and said x-bend on a condition of said calculated approximate overall bend being equal to or less than said limit, and repeating the receiving, calculating, and setting steps on a condition of said calculated approximate overall bend being greater than said limit.

Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope

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

Methods and apparatuses provide improved navigation through tubular networks such as lung airways by providing improved estimation of location and orientation information of a medical instrument (e.g., an endoscope) within the tubular network. Various input data such as image data, EM data, and robot data are used by different algorithms to estimate the state of the medical instrument, and the state information is used to locate a specific site within a tubular network and/or to determine navigation information for what positions/orientations the medical instrument should travel through to arrive at the specific site. Probability distributions together with confidence values are generated corresponding to different algorithms are used to determine the medical instrument's estimated state.

Navigation of tubular networks

A surgical robotic system includes an endoscope, a robotic arm including a drive mechanism, the drive mechanism coupled to the endoscope. The surgical robotic system further includes a controller configured to receive a command to move the endoscope using the robotic arm, access a set of calibration parameters associated with the endoscope, generate an adjusted command based on the command and the set of calibration parameters, and provide the adjusted command to the robotic arm to move the endoscope.

Instrument calibration

A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

Growing community of inventors

Mountain View, CA, United States of America

David S Mintz