1
Nicola Diolaiti: Minimally invasive surgical system. Intuitive Surgical Operations, May 25, 2010: US07725214 (63 worldwide citation)

A control system for a minimally invasive surgical system. In one aspect the control system is a distributed system. A control and transform processor receives data from a master arm controller, an instrument controller, an imaging system controller, and a guide tube controller and distributes data ...


2
Nicola Diolaiti, David Q Larkin, Catherine J Mohr: Medical robotic system with coupled control modes. Intuitive Surgical Operations, December 31, 2013: US08620473 (32 worldwide citation)

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a ...


3
Daniel Gomez, Nicola Diolaiti, David Q Larkin, Paul E Lilagan, Probal Mitra, Tabish Mustafa: Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide. INTUITIVE SURGICAL OPERATIONS, July 21, 2015: US09084623 (19 worldwide citation)

To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its con ...


4
Nicola Diolaiti, David Q Larkin, Daniel Gomez, Tabish Mustafa, Paul W Mohr, Paul Lilagan: Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip. Intuitive Surgical Operations, October 21, 2014: US08864652 (19 worldwide citation)

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherw ...


5
Nicola Diolaiti, Paul E Lilagan: Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument. Intuitive Surgical Operations, December 23, 2014: US08918211 (17 worldwide citation)

A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedb ...


6
Nicola Diolaiti: Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide. INTUITIVE SURGICAL OPERATIONS, September 22, 2015: US09138129 (16 worldwide citation)

A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide. Haptic cues and velocity limits are provided to assist t ...


7
Nicola Diolaiti, Paul E Lilagan: Smooth control of an articulated instrument across areas with different work space conditions. Intuitive Surgical Operations, December 2, 2014: US08903546 (16 worldwide citation)

An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits ...


8
Marc E Tognaccini, Daniel H Gomez, Nicola Diolaiti, Tabish Mustufa, Probal Mitra, Paul E Lilagan: Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide. INTUITIVE SURGICAL OPERATIONS, July 28, 2015: US09089256 (15 worldwide citation)

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherw ...


9
Nicola Diolaiti, David Q Larkin, Catherine J Mohr: Medical robotic system with coupled control modes. INTUITIVE SURGICAL OPERATIONS, May 10, 2016: US09333042 (13 worldwide citation)

In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a ...


10
Nicola Diolaiti, David Q Larkin, Daniel H Gomez, Tabish Mustufa, Paul W Mohr, Paul E Lilagan: Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip. Intuitive Surgical Operations, December 13, 2016: US09516996 (12 worldwide citation)

A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherw ...