Han Sen Medical, Inc.

Koninklijke Philips Corporation N.v.

Intuitive Surgical, Inc.

Intuitive Surgical Operations, Inc.

Auris Health, Inc.

Robert G Younge

Gunter D Niemeyer

Daniel T Wallace

Neal A Tanner

Frederic H Moll

Gregory J Stahler

Gary S Guthart

Kenneth M Martin

David F Moore

Michael R Zinn

Thomas G Cooper

Bhaskar S Ramamurthy

Randall L Schlesinger

Daniel Thomas Adams

Stephen J Blumenkranz

William C Nowlin

Chris A Julian

Christopher R Carlson

David B Camarillo

Federico Barbagli

David Charles Lundmark

Matthew J Roelle

Michael J Tierney

Eric Udd

J Kenneth Salisbury, Jr

David S Mintz

Craig R Gerbi

Dean F Hoornaert

John D Stern

David S Gere

Nitish Swarup

David Joseph Rosa

Mathew D Clopp

Alex S Goldenberg

Andris D Ramans

Gregory K Toth

Gene Reis

Steven J Blumenkranz

Toby St John King

Edwin J Hlavka

Aditya Koolwal

Travis C Covington

Christopher P Wilson

Volkmar Falk

Philip C Evans

Rand P Pendleton

Christopher Allen Julian

Michael Ikeda

Frederico Barbagli

Tom G Cooper

The apparatus of one embodiment of the present invention is comprised of a flexible sheath instrument, a flexible guide instrument, and a tool. The flexible sheath instrument comprises a first instrument base removably coupleable to an instrument driver and defines a sheath instrument working lumen. The flexible guide instrument comprises a second instrument base removably coupleable to the instrument driver and is threaded through the sheath instrument working lumen. The guide instrument also defines a guide instrument working lumen. The tool is threaded through the guide instrument working lumen. For this embodiment of the apparatus, the sheath instrument and guide instrument are independently controllable relative to each other.

Robotic catheter system and methods

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the master input device. An elongate guide instrument has a base, distal end, and a working lumen, wherein the guide instrument base is operatively coupled to the guide instrument interface. The guide instrument includes a plurality of guide instrument control elements operatively coupled to respective guide drive elements and secured to the distal end of the guide instrument. The guide instrument control elements are axially moveable relative to the guide instrument such that movement of the guide instrument distal end may be controlled by the master input device.

Robotic catheter system

Systems and methods are described herein that improve control of a shapeable or steerable instrument using shape data. Additional methods include preparing a robotic medical system for use with a shapeable instrument and controlling advancement of a shapeable medical device within an anatomic path. Also described herein are methods for altering a data model of an anatomical region.

Methods and devices for controlling a shapeable medical device

An instrument system that includes an elongate instrument body and an optical fiber sensor is provided. The optical fiber sensor includes an elongate optical fiber that is coupled to the elongate instrument body, wherein a portion of the optical fiber is coupled to the elongate instrument body in a manner to provide slack in the fiber to allow for axial extension of the elongate instrument body relative to the optical fiber.

Instrument systems and methods utilizing optical fiber sensor

Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

Autofocus and/or autoscaling in telesurgery

A method for mapping an internal structure of a patient with an elongate body is provided. The method includes detecting, at a plurality of instances, contact between a distal portion of an elongate body and an internal structure of the patient; determining a plurality of geometric configurations of the distal portion, the plurality of geometric configurations corresponding to the plurality of instances of contact between the distal portion and the internal structure; determining a plurality of positions of the distal portion, the plurality of positions corresponding to the plurality of geometric configurations; and generating a map of the internal structure based on the plurality of positions of the distal portion.

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

This disclosure covers various concepts to use for obtaining measurement of tension in catheter pullwires to improve controllability of a robotic surgical system.

Catheter tension sensing

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information maybe stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Surgical robotic tools, data architecture, and use

An instrument system that includes an image capture device, an elongate body, an optical fiber and a controller is provided. The elongate body is operatively coupled to the image capture device. The optical fiber is operatively coupled to the elongate body and has a strain sensor provided on the optical fiber. The controller is operatively coupled to the optical fiber and adapted to receive a signal from the strain sensor and to determine a position or orientation of the image capture device based on the signal.

Fiber optic instrument orientation sensing system and method

Growing community of inventors

Portola Valley, CA, United States of America

Robert G Younge