David J Larkin

US Patent:

7752920, Jul 13, 2010

Filed:

Oct 26, 2006

Appl. No.:

11/553303

Inventors:

Stephen J. Blumenkranz - Redwood City CA, US
David Q. Larkin - Menlo Park CA, US
Rajesh Kumar - Nasirpur, IN

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

G01D 7/00

US Classification:

73862045, 73862041

Abstract:

A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

US Patent:

7930065, Apr 19, 2011

Filed:

Jul 20, 2006

Appl. No.:

11/491384

Inventors:

David Q. Larkin - Menlo Park CA, US
David C. Shafer - Menlo Park CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 1/00

US Classification:

700245, 600104, 600106, 600145, 606 1, 606 10, 606 13, 606 15

Abstract:

A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.

US Patent:

8057385, Nov 15, 2011

Filed:

Jun 13, 2007

Appl. No.:

11/762135

Inventors:

Thomas G. Cooper - Menlo Park CA, US
David J. Rosa - San Jose CA, US
David Q. Larkin - Menlo Park CA, US
Matthew R. Williams - Walnut Creek CA, US
Eugene F. Duval - Menlo Park CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 1/00

US Classification:

600104, 600106

Abstract:

Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

US Patent:

8182415, May 22, 2012

Filed:

Jun 13, 2007

Appl. No.:

11/762191

Inventors:

David Q. Larkin - Menlo Park CA, US
Thomas G. Cooper - Menlo Park CA, US
Catherine J. Mohr - Mountain View CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 1/00
A61B 17/00

US Classification:

600104, 600106, 606 1, 901 14, 901 15, 901 16

Abstract:

A surgical instrument is inserted through a guide tube. A telemanipulation system moves the distal end of the surgical instrument in all six Cartesian degrees of freedom independently of any guide tube movements.

US Patent:

8281670, Oct 9, 2012

Filed:

Jun 3, 2010

Appl. No.:

12/793014

Inventors:

David Q. Larkin - Menlo Park CA, US
Stephen J. Blumenkranz - Redwood City CA, US
Rajesh Kumar - Delhi, IN

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

G01D 7/00

US Classification:

73862045

Abstract:

A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

US Patent:

8375808, Feb 19, 2013

Filed:

Sep 29, 2007

Appl. No.:

11/864974

Inventors:

Stephen J. Blumenkranz - Redwood City CA, US
David Q. Larkin - Menlo Park CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

G01L 1/22

US Classification:

73862044

Abstract:

An apparatus, system, and method for improving force and torpg,que sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.

US Patent:

8419717, Apr 16, 2013

Filed:

Jun 13, 2007

Appl. No.:

11/762236

Inventors:

Nicola Diolaiti - Palo Alto CA, US
David Q. Larkin - Menlo Park CA, US
Thomas G. Cooper - Menlo Park CA, US
Bruce Schena - Menlo Park CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 17/00

US Classification:

606 1, 606130

Abstract:

A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

US Patent:

8613230, Dec 24, 2013

Filed:

Jan 7, 2013

Appl. No.:

13/735335

Inventors:

David Q. Larkin - Menlo Park CA, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

G01L 1/22

US Classification:

73862044

Abstract:

An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.