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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11712312 B1

PDFFull Text
Date of Patent:
Aug. 01, 2023

Filed:

Sep. 17, 2021

Robotic surgery system including position sensors using fiber bragg gratings

Applicant:

Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);

Inventors:

David Q. Larkin, Menlo Park, CA (US);

David C. Shafer, Menlo Park, CA (US);

Assignee:

INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);

Attorney:

Haynes and Boone, LLP

Primary Examiner:

McDieunel Marc

Int. Cl.
CPC ...
B25J 18/06 (2006.01); A61B 34/30 (2016.01); A61B 34/20 (2016.01); A61B 34/00 (2016.01); A61B 90/30 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); B25J 19/02 (2006.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 90/00 (2016.01); A61B 17/04 (2006.01);
U.S. Cl.
CPC ...
A61B 34/30 (2016.02); A61B 34/20 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 90/30 (2016.02); B25J 9/1635 (2013.01); B25J 18/06 (2013.01); B25J 19/025 (2013.01); A61B 90/361 (2016.02); A61B 2017/00057 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/0477 (2013.01); A61B 2017/2906 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/305 (2016.02); A61B 2090/3614 (2016.02); Y10S 901/09 (2013.01); Y10S 901/28 (2013.01); Y10S 901/46 (2013.01); Y10S 901/47 (2013.01); Y10T 29/49826 (2015.01); Y10T 74/20305 (2015.01);
Abstract

A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.

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