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Sunnyvale, CA, United States

Intuitive Surgical Inc. is an American corporation that manufactures robotic surgical systems, most notably the da Vinci Surgical System. The da Vinci Surgical System allows surgery to be performed using robotic manipulators. The company is part of the NASDAQ-100 and S&P 500. Intuitive Surgical has installed over 1,242 systems worldwide as of July, 2009. Computer Motion was a competitor that merged with Intuitive Surgical in 2003. Wikipedia.


A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.


Patent
Intuitive Surgical | Date: 2015-08-18

The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.


A medical robotic system includes an entry guide with articulatable instruments such as surgical tools and a camera extending out of its distal end. The camera instrument is manipulatable by a camera manipulator, which has a first mechanism for pivoting a focal point of the camera instrument about a pivot of the camera instrument and a second mechanism for positioning the pivot within a three-dimensional space in response to translational commands received from one or a coupled pair of input devices. The system also includes a controller which is configured to receive sensed movement of the input devices, and cause actuation of the first mechanism in response to the sensed movement if the system is in an orientational mode and cause actuation of the second mechanism in response to the sensed movement if the system is in a translational mode.


Patent
Intuitive Surgical | Date: 2015-06-26

Control systems and methods for a medical instrument use measurements to determine and control the tensions that actuators apply through instrument transmission systems. The use of tension and feedback allows control of a medical instrument having transmission systems that provide non-negligible compliance between joints and actuators even when the positions of joints cannot be directly related to actuator positions. One embodiment determines joint torques and tensions from differences between desired and measured joint positions. Another embodiment determines joint torques and tensions from differences between desired and measured positions of a tip of the instrument. Determination of tensions from joint torques can be performed using sequential evaluation of joints in an order from a distal end of the instrument toward a proximal end of the instrument.


Patent
Intuitive Surgical | Date: 2015-08-04

A cannula includes a bowl portion with at least one depression in its outer surface, a tube portion, and a plurality of welds located at the at least one depression and joining the bowl portion to the tube portion. The plurality of welds may be discrete welds spaced from one another along a circumferential direction of the cannula. The weld joining a cannula bowl portion and a tube portion may be spaced from the distal end of the bowl portion. Various exemplary embodiments further contemplate methods of manufacturing a cannula by welding a tube portion and a bowl portion. Welding may occur, for example, in at least one depression of the bowl portion to form discrete welds spaced from one another along a circumferential direction of the cannula. In another example, welding may occur at a location spaced from and proximal to a distal end of the bowl portion.

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