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
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 ...


8
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 ...


9
Michael A Evans, Denise M Demarais, Stephen A Leeflang, Christian S Eversull: Expansible shearing catheters for thrombus removal. Bacchus Vascular, Mark D Barrish Esq, Townsend & Townsend & Crew, November 25, 2003: US06652548 (247 worldwide citation)

Devices, methods, kits, and methods remove clot material from the vasculature and other body lumens. Expansible baskets may be used as cooperating radially expansible shearing members. Helically oriented struts of each basket may wind in a uniform circumferential direction. The struts can be indepen ...


10
Daniel T Wallace, David J Rosa, Frederic H Moll: Surgical instrument with extended reach for use in minimally invasive surgery. Intuitive Surgical, Mark D Barrish Esq, Townsend Townsend & Crew, November 6, 2001: US06312435 (242 worldwide citation)

An improved surgical instrument, which can advantageously be used in the field of minimally invasive surgery, is provided. A method of performing a surgical procedure with such an improved surgical instrument is also provided. The improved surgical instrument includes an elongate shaft defining oppo ...