Intuitive Surgical Operations, Inc.

Julie L Berry

Brandon D Itkowitz

Paul W Mohr

Pushkar Hingwe

Melody Wu

Hsien-Hsin Liao

Daniel P Saraliev

Joseph M Arsanious

Paul G Griffiths

Michael Lee Hanuschik

David W Weir

Melissa D Lippiatt

Anthony Michael Jarc

Amy E Kerdok

Techniques for reducing blade exposures include a computer-assisted device having one or more processors and a drive system comprising one or more drive units configured to be coupled to a cutting instrument. The one or more processors are configured to: measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument; measure, using one or more second sensors, a roll of a shaft of the cutting instrument; correct the jaw angle based on the roll of the shaft; determine a restriction on a cutting operation to be performed using the instrument based on the corrected jaw angle; and perform or prevent the cutting operation according to the restriction.

System and method for reducing blade exposures

Systems and methods for instrument control include a first actuator for controlling a first mechanical degree of freedom, a second actuator for controlling a second mechanical degree of freedom, and a controller. The controller is configured to command the first actuator to maintain the first actuator at a first position, wherein actuation of the first actuator is subject to a first torque limit; command the second actuator to maintain the second actuator at a second position, wherein actuation of the second actuator is subject to a second torque limit; and in response to detecting that the first actuator cannot be maintained at the first position using actuation subject to the first torque limit and the second actuator can be maintained at the second position using actuation subject to the second torque limit, terminate the command to the first actuator to maintain the first actuator at the first position.

System and method for patient-side instrument control

A method comprises operably coupling a surgical instrument to a first connector port of a plurality of connector ports of a flux supply unit. The method further comprises, in response to operably coupling the surgical instrument, altering an appearance of a first graphical user interface section of a plurality of graphical user interface sections presented on a display, each of the plurality of graphical user interface sections being aligned with a differing connector port of the plurality of connector ports.

Teleoperated surgical system equipment with user interface

A system comprises a teleoperational assembly including an operator input system and a teleoperational manipulator configured for operation by the operator input system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user. The user profile includes a parameter established during a prior teleoperational procedure. The parameter includes anthropometric data for the user. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter. The operation includes adjusting an operating table based on the anthropometric data.

Systems and methods for onscreen menus in a teleoperational medical system

Techniques for reducing blade exposures include one or more processors and a drive system configured to be coupled to a cutting instrument. The cutting instrument includes an end effector located at a distal end of the cutting instrument, the end effector comprising opposable gripping jaws and a cutting blade, a shaft configured to be coupled to the drive system, an articulated wrist coupling the end effector to the shaft and one or more drive mechanisms in the shaft for coupling force or torque from the drive system to the end effector and the articulated wrist. The one or more processors are configured to measure a jaw angle between the gripping jaws, measure articulation of the articulated wrist, correct the jaw angle based on the articulation of the articulated wrist, determine a cutting length based on the corrected jaw angle, and perform a cutting operation according to the cutting length.

Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.

A method comprises simultaneously presenting on a display a plurality of graphical screen sections, each graphical screen section comprising adjustable control settings. The plurality of graphical screen sections respectively align with a plurality of connector ports, and each connector port is configured to be operably coupled with a surgical instrument.

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 first setup step based on detected physical arrangement of at least one surgical arm on a teleoperational assembly and automatically display a prompt for a subsequent setup step after the recognizing completion of the first setup step.

Guided setup for teleoperated medical device

A surgical instrument is configured to be installed for use on a teleoperated surgical system. A surgeon or other medical person controls the surgical instrument by manipulating one or more control inputs. Computer-assisted teleoperated actuators of the teleoperated surgical system move one or more surgical instrument mechanical degrees of freedom in response to movements of the one or more control inputs. A teleoperated surgical system is provided to enable a surgeon or medical person to manually control one or more surgical instrument mechanical degrees of freedom, while the surgical instrument is installed for use on the teleoperated surgical system.

A surgeon console for a teleoperated surgical system includes a user input mechanism configured to be actuated to command a flux supply unit to supply a flux to a surgical instrument operatively coupled to the surgeon console; and a user interface configured to display setting information of the flux supply unit, wherein the user interface comprises actuatable control features configured to change a control setting of the flux supply unit.

User interfaces and displays for flux supply units

A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.

A flux supply unit for supplying a flux to a plurality of surgical instruments may include a plurality of connectors and a user control interface. The plurality of connectors may be configured to supply flux to the surgical instruments when the surgical instruments are operationally coupled to respective connectors. The user control interface may include a continuous display screen including a plurality of graphical display screen sections on the same display screen that display controls for surgical instruments operationally coupled to the plurality of connectors. The plurality of graphical display screen sections may display controls for different types of surgical instruments on the same continuous display screen. The plurality of graphical display screen sections may be arranged relative to the plurality of connectors to visually couple respective graphical display screen sections and connectors to indicate respective associations of the graphical display screen sections with the connectors.

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San Jose, CA, United States of America

Julie L Berry