Niels M Smaby

US Patent:

20200281677, Sep 10, 2020

Filed:

Jan 21, 2020

Appl. No.:

16/748419

Inventors:

- Sunnyvale CA, US
Bruce Michael Schena - Menlo Park CA, US
Amir H. Chaghajerdi - San Jose CA, US
Niels Smaby - Palo Alto CA, US
Tyler J. Morrissette - Niantic CT, US

International Classification:

A61B 46/10
A61B 34/30
A61B 34/37
A61B 90/00
A61B 34/35
A61B 46/00
A61B 90/98
A61B 17/00

Abstract:

An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

US Patent:

20200029945, Jan 30, 2020

Filed:

Jun 10, 2016

Appl. No.:

15/735082

Inventors:

- Sunnyvale CA, US
Niels Smaby - Palo Alto CA, US
Melody Wu - Sunnyvale CA, US

International Classification:

A61B 17/00
A61B 34/35

Abstract:

A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.

US Patent:

20190274767, Sep 12, 2019

Filed:

Mar 17, 2015

Appl. No.:

15/121718

Inventors:

- Sunnyvale CA, US
Niels Smaby - Palo Alto CA, US

International Classification:

A61B 34/35
A61B 34/37
A61B 90/00

Abstract:

A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.

US Patent:

20190083188, Mar 21, 2019

Filed:

Sep 14, 2018

Appl. No.:

16/131925

Inventors:

- Sunnyvale CA, US
Niels Smaby - Palo Alto CA, US
Melody Wu - Sunnyvale CA, US

International Classification:

A61B 34/37

Abstract:

A surgical system comprises a patient side cart, a motor, and a telesurgically operated instrument. The telesurgically operated instrument is coupled to the patient side cart and comprises a transmission and a surgical end effector having a plurality of end effector components. The transmission is driven by the motor and comprises a first effector drivetrain comprising a first gear, a first input gear, and a first locker arm, and a camshaft defining a longitudinal axis, the camshaft comprising a first power cam and a first locker cam. The motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft. In a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first input gear with the first gear, and the first locker cam is configured to disengage the first locker arm from the first gear.

US Patent:

20190060012, Feb 28, 2019

Filed:

Aug 24, 2018

Appl. No.:

16/111565

Inventors:

- Sunnyvale CA, US
Joseph M. Arsanious - Riverside CA, US
Gabriel F. Brisson - Sunnyvale CA, US
Niels Smaby - Palo Alto CA, US

International Classification:

A61B 34/35
B25J 9/16
A61B 34/30
A61B 90/00

Abstract:

A robotic system comprises a robotic assembly comprising a drive mechanism, a sensor assembly, and a controller communicatively coupled to the sensor assembly. The controller has at least one processor configured to execute a method. The method comprises recording a position of the drive mechanism to non-volatile memory during use of the robotic assembly and receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly. The method also comprises determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism.

US Patent:

20180344419, Dec 6, 2018

Filed:

Aug 13, 2018

Appl. No.:

16/102225

Inventors:

- Sunnyvale CA, US
Bruce Michael Schena - Menlo Park CA, US
Amir Chaghajerdi - San Jose CA, US
Niels Smaby - Palo Alto CA, US
Tyler Morrissette - Niantic CT, US

International Classification:

A61B 46/10
A61B 90/00
A61B 34/30
A61B 34/35
A61B 34/37
A61B 46/00
A61B 17/00
A61B 90/98
F16H 1/20

Abstract:

An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

US Patent:

20170273752, Sep 28, 2017

Filed:

Jun 9, 2017

Appl. No.:

15/619325

Inventors:

- Sunnyvale CA, US
Bruce Michael Schena - Menlo Park CA, US
Amir Chaghajerdi - San Jose CA, US
Niels Smaby - Palo Alto CA, US
Tyler Morrissette - Niantic CT, US

International Classification:

A61B 46/10
A61B 17/00
A61B 34/30
A61B 34/35
A61B 34/37
A61B 46/00
A61B 90/00
A61B 90/98
F16H 1/20

Abstract:

An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.

US Patent:

20170179857, Jun 22, 2017

Filed:

Feb 17, 2015

Appl. No.:

15/118264

Inventors:

- Sunnyvale CA, US
Niels Smaby - Palo Alto CA, US
Gregory W. Dachs II - San Mateo CA, US
Pushkar Hingwe - Los Altos CA, US
Amir Chaghajerdi - San Jose CA, US

Assignee:

INTUITIVE SURGICAL OPERATIONS, INC. - Sunnyvale CA

International Classification:

H02P 6/10
H02P 6/04
A61B 17/00
A61B 34/35
A61B 90/00
H02P 6/08
H02P 6/14

Abstract:

A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.