Intuitive Surgical Operations, Inc.

Other

Paul Millman

Michael Lee Hanuschik

Randal P Goldberg

Bruce M Schena

Thomas G Cooper

David W Robinson

Thomas R Nixon

David Q Larkin

Paul W Mohr

David W Bailey

Jason W Hemphill

David S Mintz

Dean F Hoornaert

Simon Peter DiMaio

Dinesh Rabindran

John W Zabinski

Alec Paul Robertson

Nicholas Leo Bernstein

Roman L Devengenzo

Arjang M Hourtash

David W Weir

Pushkar Hingwe

Mark W Schwartz

Giuseppe Maria Prisco

William C Nowlin

Nitish Swarup

William A Burbank

Robert E Holop

Scott Osborne Luke

John Harry Magnasco

Michael R Costa

Michael Ikeda

Robert C Reid

Salvatore J Brogna

Hubert Stein

Deepak Ramesh Kapoor

Gregory K Toth

Kristopher J Yee

Henry Hazebrouck

Charles Godin

Emily Cooper

Steven D Wexner

Heath Corbet

Gregory W Dachs

Gary Guthurt

Scott O Luke

Nina Frankel

Simon Peter Dimaio

David Robinson

A device for cleaning an instrument includes a manifold comprising one or more fluid inlets, and a tubular member rotatable relative to and extending distally from the manifold. The tubular member includes a proximal end, a distal end, and a fluid outlet at the distal end. The fluid outlet is configured to direct a flow of fluid generally across the distal end of the tubular member. The tubular member also includes one or more fluid passages fluidically coupled to the fluid outlet, and the one or more fluid passages extend from the fluid outlet to the manifold. The manifold and tubular member are configured to receive a shaft of an imaging instrument in a position such that the shaft of the imaging instrument extends through the manifold to the distal end of the tubular member. Systems and methods relate to instruments and cleaning devices.

Cleaning devices for imaging instruments, devices, and methods

A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.

Adaptable integrated energy control system for electrosurgical tools in robotic surgical systems

A surgical stapling instrument is configured to dissect tissue, apply a linear staple line along one side of the tissue dissection and apply a suture, such as a purse string suture, to the other side of the tissue dissection. The instrument comprises an elongate shaft, first and second jaws configured to open and close and a cutting element. The instrument includes a first row of staples in each of the first and second jaws having a suture extending therethrough and a second row of staples in the second jaw. A drive member is configured to translate distally through the end effector to dissect tissue with the cutting element, drive the second row of staples into the tissue on one side of the dissection and to apply the first row of staples and suture in combination to form a purse string suture on the other side of the tissue dissection.

Surgical instrument with linear and purse string suture staples

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 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

A surgical stapler for applying a suture to tissue includes a first jaw and a second jaw configured to receive a cartridge. An actuation mechanism translates a drive member distally through the first and second jaws to apply staples to tissue such that a suture, in combination with the staples, forms a purse string when the stapler activated. The cartridge includes a first upper portion and a second lower portion.

Endoscopic purse string suture surgical device

A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.

Surgical instrument with robotic and manual actuation features

A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.

Medical robotic system with dynamically adjustable slave manipulator characteristics

A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.

Methods and systems for assigning input devices to teleoperated surgical instrument functions

Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space

A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument. The system further comprises a control system configured to detect at least one of an initial position or a configuration of an input device operably coupled to remotely control movement of the surgical instrument; and operably couple the first auxiliary input device to control the auxiliary function of the surgical instrument based on a position of the first auxiliary input device relative to a second auxiliary input device and the detecting of the at least one of the initial position or configuration of the input device operably coupled to remotely control the movement of the surgical instrument.

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San Jose, CA, United States of America

Paul Millman