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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 ...


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William C Nowlin, Gary S Guthart, J Kenneth Salisbury Jr, Gunter D Niemeyer: Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery. Intuitive Surgical Operations, October 5, 2010: US07806891 (446 worldwide citation)

The invention provides robotic surgical systems which allow selectable independent repositioning of an input handle of a master controller and/or a surgical end effector without corresponding movement of the other. In some embodiments, independent repositioning is limited to translational degrees of ...


4
J Kenneth Salisbury Jr, Gunter D Niemeyer, Robert G Younge, Gary S Guthart, David S Mintz, Thomas G Cooper: Devices and methods for presenting and regulating auxiliary information on an image display of a telesurgical system to assist an operator in performing a surgical procedure. Intuitive Surgical, Townsend and Townsend and Crew, February 18, 2003: US06522906 (325 worldwide citation)

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an ...


5
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, ...


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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 ...


7
Frederic H Moll, Daniel T Wallace, Robert G Younge, David F Moore, Michael R Zinn, Kenneth M Martin, Gunter D Niemeyer: Methods using a robotic catheter system. Hansen Medical, Vista IP Law Group, December 14, 2010: US07850642 (256 worldwide citation)

A methods using a robotic catheter system to perform a procedure on a patient includes generating a control signal corresponding to movement of a master input device, and moving a plurality of drive elements of an instrument driver in response to the control signal, the drive elements operatively co ...


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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 ...


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Daniel T Wallace, Frederic H Moll, Robert G Younge, Kenneth M Martin, Gregory J Stahler, David F Moore, Daniel T Adams, Michael R Zinn, Gunter D Niemeyer: Robotic catheter system. Hansen Medical, Vista IP Law Group, July 5, 2011: US07972298 (246 worldwide citation)

A robotic catheter system includes a controller with a master input device. An instrument driver is in communication with the controller and has a guide instrument interface including a plurality of guide instrument drive elements responsive to control signals generated, at least in part, by the mas ...


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Gunter D Niemeyer: Image shifting apparatus and method for a telerobotic system. Intuitive Surgical, Mark D Barrish Esq, Townsend and Towsend and Crew, September 28, 2004: US06799065 (233 worldwide citation)

Improved teleoperator techniques often make use of at least one input device which can be selectively operatively associated with, for example, either a surgical instrument to treat tissues, or with an image of a surgical worksite shown to a system operator. A novel image manipulation arrangement ef ...