Intuitive Surgical Operations, Inc.

Nicholas Leo Bernstein

Simon Peter DiMaio

Dinesh Rabindran

Paul Millman

Alec Paul Robertson

Theodore W Rogers

Catherine J Mohr

Andrew Cullen Waterbury

Kollin Myles Tierling

Katherine Suzanne Anderson

Simon Peter Dimaio

A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

Base positioning system for a controllable arm and related methods

A surgical drape for providing a localized instrument sterility barrier includes: a tube having a proximal end and a distal end, the tube defining an interior bore sized to receive an elongated shaft of a surgical instrument; and a port coupler at the distal end of the tube, the port coupler configured to couple the distal end of the tube to a surgical port through which the elongated shaft extends. The tube is collapsible to accommodate relative movement between the instrument and the surgical port during a surgical procedure.

Instrument drape

A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.

Positioning indicator system for a remotely controllable arm and related methods

Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

Computer-assisted tele-operated surgery systems and methods

Systems and methods for minimally invasive tele-surgery are described. For example, the disclosure describes methods for independently controlling motions of the robotic manipulator, cannula, and surgical instrument in various surgical contexts.

Roll control is provided for a device by controlling the roll-angle offset about the device roll axis in correspondence to a specified rotation of a reference frame for the device. This specified rotation may correspond to a roll-free rotation of the reference frame to align a corresponding reference roll axis with the device roll axis. In applications to robotics generally, the device may be characterized as a robotic element or a robotically-supported instrument. In specific applications to robotic surgery in a computer-assisted medical system, the device may include a spar or cannula that is configured to support a surgical instrument.

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Cary, NC, United States of America

Nicholas Leo Bernstein