1
Thomas G Cooper: Multi-component telepresence system and method. Intuitive Surgical, Mark D Barrish Esq, Townsend and Townsend and Crew, October 17, 2000: US06132368 (677 worldwide citation)

The present invention provides systems and methods for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermedi ...


2
Gunter D Niemeyer, William C Nowlin, Gary S Guthart: Alignment of master and slave in a minimally invasive surgical apparatus. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, April 2, 2002: US06364888 (605 worldwide citation)

This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a ...


3
Craig Richard Gerbi, Eugene F Duval, Don Minami, Bob Hager, J Kenneth Salisbury, Akhil Madhani, John Stern, Gary S Guthart: Removable infinite roll master grip handle and touch sensor for robotic surgery. Intuitive Surgical, Mark D Barrish Esq, TownsendTownsend&CrewLLP, July 1, 2003: US06587750 (477 worldwide citation)

An input device for robotic surgery mechanically transmits a grip signal across a first joint coupling a handle to a linkage supporting the handle. The handle is removable and replaceable, allows unlimited rotation about the joint, and may optionally include a touch sensor to inhibit movement of a s ...


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Steven J Blumenkranz, David J Rosa: Manipulator positioning linkage for robotic surgery. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, June 12, 2001: US06246200 (376 worldwide citation)

Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released. While the brake is held in a released mode, ...


6
Gunter D Niemeyer, Gary S Guthart, William C Nowlin, Nitish Swarup, Gregory K Toth, Robert G Younge: Camera referenced control in a minimally invasive surgical apparatus. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, July 23, 2002: US06424885 (308 worldwide citation)

Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, ...


7
Tom A Steinke, Corbett W Stone, Stephen O Ross, Brian S Kelleher, Raphael M Michel, Donald H Koenig: Selectable eccentric remodeling and/or ablation of atherosclerotic material. Minnow Medical, Townsend & Townsend & Crew, Mark D Barrish, November 6, 2007: US07291146 (274 worldwide citation)

A catheter and catheter system for eccentric remodeling and/or removal of atherosclerotic material of a blood vessel of a patient include an elongate flexible catheter body with a radially expandable structure. A plurality of electrodes or other electrosurgical energy delivery surfaces can radially ...


8
Philip S Green: Surgical method. SRI International, Townsend&Townsend&CrewLLP, Mark D Barrish, November 8, 2005: US06963792 (264 worldwide citation)

A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer. The teleoperator system comprises a surgical system suited for endoscopic sur ...


9
Gunter D Niemeyer: Friction compensation in a minimally invasive surgical apparatus. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, May 20, 2003: US06565554 (263 worldwide citation)

The present invention provides improved devices, systems, and methods for compensating for friction within powered automatic systems, particularly for telesurgery and other telepresence applications. The invention allows uninhibited manipulation of complex linkages, enhancing the precision and dexte ...


10
Gunter D Niemeyer: Aspects of a control system of a minimally invasive surgical apparatus. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, December 10, 2002: US06493608 (252 worldwide citation)

A surgical method and a control system is provided. The surgical method and the control system can advantageously be used in a minimally invasive surgical apparatus. The method includes generating a desired surgical instrument movement command signal. It further includes comparing the desired surgic ...