Intuitive Surgical Operations, Inc.

Leland Stanford Junior University

Intuitive Surgical, Inc.

Massachusetts Institute of Technology

Sensable Technologies, Inc.

Sandia Corporation

Integrated Surgical Systems, Inc.

Strider Labs, Inc.

Intuitive Sugrical Operations, Inc.

J Kenneth Salisbury, Jr

Gunter D Niemeyer

Gary S Guthart

William C Nowlin

Frederic H Moll

Akhil Jiten Madhani

Stephen J Blumenkranz

David Joseph Rosa

Thomas Harold Massie

Andris D Ramans

Michael J Tierney

David Q Larkin

Yulun Wang

Giuseppe Maria Prisco

David S Mintz

Brian David Hoffman

Darrin R Uecker

Robert G Younge

James W Wright

Amante A Mangaser

Rajesh Kumar

Modjtaba Ghodoussi

Steven J Blumenkranz

Ranjan Mauherjee

Thomas G Cooper

Reuben Daniel Brewer

William T Townsend

Eugene F Duval

Walter A Aviles

Christopher M Tarr

David M DiPietro

Brian S Eberman

Joan Savall

Joel Frederic Jensen

David Lawrence Brock

David B Camarillo

Perry Q Anderson

Curt Michael Salisbury

Kevin E Loewke

Eliot Leonard Wegbreit

Ranjan Mukherjee

Scott McKinley DeWinter

Mandayam A Srinivasan

Dimitre Hristov Hristov

Craig B Zilles

Hugh B Morgenbesser

G&uuml;nter D Niemeyer

Elizabeth Bianchini

J Efraín Alcorta

Remis Balaniuk

Ivan F Costa

Jeffrey S Schlosser

Michael Levin

Peter Gerrit Lowe

Prateek Verma

Austin D Epps

Etienne Chassaing

Alex Nathan Kahn

Systems and methods for facilitating handoffs between a robot and a counterpart in accordance with embodiments of the invention are illustrated. One embodiment includes a method for controlling a robot to handoff an object. The method includes steps for presenting an object to a receiver, moving an object to interrogate a grip stiffness of the receiver, and measuring a response to the moving using a set of one or more sensors. The method further includes steps for computing the grip stiffness of the receiver based on the measured response and determining whether to release the object based on the computed grip stiffness.

Systems and methods for tactile gesture interpretation

Cable-actuated differential enabling N degrees of freedom provided by a plurality of pulleys and at least N+1 tensioning cables. The cable-actuated differential increases a dynamic force range by minimizing co-activation of the tensioning cables at any operating point. A cable-actuated differential having three cables provides motor based control of a 2 DOF joint that can be applied to robots or teleoperation. A cable-actuated mechanical differential having opposing bevel gears and a middle bevel gear meshed with the opposing gear allows an output connector to controllably and independently rotate about the x axis or y axis via three operational modes without backlash.

Cabled differential for cable controlled joint

A four-state joint brake module is provided to selectably stop or allow motion in both directions resulting in a mechanism that has four possible states: 1) allowing rotation only in a clockwise direction, 2) allowing rotation only in a counter-clockwise direction, 3) allowing free rotation in both directions, and 4) stopping motion in both directions. In robotic and other motion control applications the use of this four-state joint brake module in a multi-segmented linkage allows for position holding without continuous application of power and 'fail safe' behavior. It further allows for the ability to toggle this useful state behavior independently in either direction and is relevant for robotic applications.

Four-state brake module for use as a joint in a mechanical linkage

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

Display of computer generated image of an out-of-view portion of a medical device adjacent a real-time image of an in-view portion of the medical device

An imaging probe manipulator for use during a medical procedure includes a first manipulator linkage having a connector configured to attach to an imaging probe, a second manipulator linkage coupled to the first manipulator linkage at a first joint a third manipulator linkage coupled to the first or second manipulator linkage at a second joint. The first joint or the second joint has a degree of freedom. The imaging probe manipulator includes a force control transmission linked to the degree of freedom. The force control transmission component is configured to maintain a pre-determined force on the imaging probe when the imaging probe is in contact with a patient.

Manipulation of imaging probe during medical procedure

An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus produce a fully functional articulated surgical instrument of minimum size.

Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity

A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures

Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system

According to one exemplary embodiment, a manipulator device includes a base, first and second linear slides, a drive link, a drive member, a driven member and an end effector. The elements of the manipulator device cooperate to constrain the end effector to rotate about a remote center of motion that is displaced from a proximal center of motion as the drive link moves a carriage of the second linear slide along an arcuate path.

Remote center of motion mechanism and method of use

A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.

Haptic device for telerobotic surgery

Growing community of inventors

Mountain View, CA, United States of America

J Kenneth Salisbury, Jr