Intuitive Surgical Operations, Inc.

Randal P Goldberg

David W Robinson

Michael Lee Hanuschik

Thomas R Nixon

Paul Millman

Paul W Mohr

Bruce M Schena

Dean F Hoornaert

David Q Larkin

Jason W Hemphill

Allen C Thompson

Henry Hazebrouck

Stephen J Blumenkranz

Tyler J Morrissette

John W Zabinski

Salvatore J Brogna

Heath Feather

Alexandre V Matveev

David Lidgey

David W Bailey

David W Weir

Ian E McDowall

Pushkar Hingwe

Goran Adrian Lynch

Lawton N Verner

Michael R Costa

Deepak Ramesh Kapoor

Steven J Blumenkranz

Yu-Min Lee

Russell L E Blanchard

Peling G Lee

Michael Waldo

Scott O Luke

Charles A Sweeney

David Robinson

An apparatus includes a controller coupled to a stereoscopic image viewer. The stereoscopic image viewer includes a viewing lens, an image capture unit, and a plurality of light sources. The image capture unit is configured to capture image frames. The controller receives the captured image frames. The controller is configured to switch light output from one of the plurality of light sources to another one of the plurality of light sources if a corneal reflection in a captured image frame intersects a fixed reflection in the captured image frame.

Dynamic illumination for eye-tracking

Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.

Moveable display system

Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.

Low friction cannula seals for minimally invasive robotic surgery

An exemplary image viewing system includes a display device configured to emit visible light representative of an image provided for display by the image viewing system, an infrared light source configured to emit infrared light, a viewing lens, and a black glass mirror provided between the infrared light source and the viewing lens. The black glass mirror comprises black glass and a coating on an outer surface of the black glass. The coating is configured to reflect a first portion of the visible light emitted from the display device towards the viewing lens, pass a second portion of the visible light emitted from the display device to the black glass, and pass a portion of the infrared light emitted from the infrared light source toward the viewing lens. The black glass is configured to pass the portion of the infrared light and absorb the second portion of the visible light.

Image viewing systems and methods using a black glass mirror

The technology described in this document can be embodied in a viewing apparatus for a surgical device, the apparatus including a lens assembly including a first polarizer, a display device configured to present an image of a surgical scene, and a reflective surface oriented at an acute angle with respect to the display device such that light from the display device is reflected from the reflective surface towards the lens assembly. The first polarizer in the lens assembly is configured such that light reflected from the reflective surface passes through the first polarizer, and light reaching the first polarizer without being reflected from the reflective surface is substantially blocked.

Display with folded optical path

A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body to move the pair of clamping components between a first state to unclamp a cannula mounted at the cannula mount and a second state to clamp a cannula mounted at the cannula mount. Pivoting motion of the latch assembly relative to the body causes a portion of the latch assembly to slide along the clamping component and change a state of the pair of clamping components from an unlocked state to a locked state in the second state of the pair of clamping components.

Surgical cannula mounts and related systems and methods

A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.

A cannula sterile adaptor for a surgical system includes a first portion comprising a rigid material and a second portion comprising a compliant material. one of the first portion and the second portion comprises a depression arranged to receive a clamping arm of a cannula mount of the surgical system.

A method for a minimally invasive surgical system is disclosed including capturing camera images of a surgical site; generating a graphical user interface (GUI) including a first colored border portion in a first side and a second colored border in a second side opposite the first side; and overlaying the GUI onto the captured camera images of the surgical site for display on a display device of a surgeon console. The GUI provides information to a user regarding the first electrosurgical tool and the second tool in the surgical site that is concurrently displayed by the captured camera images. The first colored border portion in the GUI indicates that the first electrosurgical tool is controlled by a first master grip of the surgeon console and the second colored border portion indicates the tool type of the second tool controlled by a second master grip of the surgeon console.

Methods of user interfaces for electrosurgical tools in robotic surgical systems

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

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 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.

Growing community of inventors

San Mateo, CA, United States of America

Randal P Goldberg