Intuitive Surgical Operations, Inc.

Capstan Medical Inc.

Thomas R Nixon

Michael Lee Hanuschik

David Q Larkin

David W Robinson

Randal P Goldberg

Nitish Swarup

Paul Millman

Paul W Mohr

Gregory K Toth

Bruce M Schena

Brandon D Itkowitz

Niels Smaby

Nicola Diolaiti

Gregory William Dachs, Ii

Paul G Griffiths

Pushkar Hingwe

Jason W Hemphill

Steven J Colton

David S Mintz

David W Bailey

William C Nowlin

Salvatore J Brogna

Giuseppe Maria Prisco

Roman L Devengenzo

John W Zabinski

Debra A Sillman

Hubert Stein

Ian E McDowall

David W Weir

Gabriel Francis Brisson

Peter W Gregg

Margaret M Nixon

Michael Ikeda

Biagio P Pellegrino

Neal Tanner

Clemens E Zoellner

Nitish Swamp

Evelyn Hayes

Daniel T Wallace

Travis Schuh

Robert P Sundstrom

Robert P Sunstrom

Gregory Ii Dachs

David Robinson

A system for delivery of cardiac implants includes a catheter having a handle assembly including a cable control assembly. The handle assembly further includes a tubular body assembly extending distally from the handle assembly and deflectable by operation of the cable control assembly. The system also includes a robot having a linear displacement platform and a carriage coupled to the linear displacement platform. The carriage includes a drive motor assembly and is at least one of linearly displaceable along the linear displacement platform and rotatable relative to the linear displacement platform. The handle assembly is coupled to the carriage such that the cable control assembly interfaces with the drive motor assembly of the carriage to facilitate operation of the cable control assembly by the robot.

Robotic delivery system for cardiac implants

A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

Inter-operative switching of tools in a robotic surgical system

An apparatus comprises a memory device and a processor coupled to a display device, an image capture device, and the memory device. The processor is configured to: cause images captured by the image capture device to be displayed in a viewing area on the display device; determine a position of a tool in a reference frame of the image capture device; determine a position to display a non-depictive symbol for the tool in a boundary area circumscribing the viewing area to indicate a direction of the determined position of the tool relative to a field of view of the image capture device, by determining a trajectory of the tool; and cause the non-depictive symbol to be displayed at the determined position in the boundary area while images that were captured by the image capture device are restricted to being displayed in the viewing area.

Tool position and identification indicator displayed in a boundary area of a computer display screen

Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Tool memory-based software upgrades for robotic surgery

Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.

Automated structure with pre-established arm positions in a teleoperated medical system

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

Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods include both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory on the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor is updated by shipping of new data. Once downloaded by the processor from a component, subsequent components take advantage of the updated processor without repeated downloading.

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 system includes a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.

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

Devices, systems, and methods include a teleoperated system including a kinematic structure having a joint, a drive or brake system for controlling the joint, and a computing unit coupled with the drive or brake system. The computing unit is configured to detect that the joint is between a software defined range of motion limit for the joint and a physical range of motion limit for the joint, the software defined range of motion limit being spaced a distance apart from the physical range of motion limit and delay for a duration of time, in response to detecting the joint between the software defined range of motion limit and the physical range of motion limit, applying the drive or brake system to stop motion of the joint.

Automatic push-out to avoid range of motion limits

Growing community of inventors

San Jose, CA, United States of America

Thomas R Nixon