1
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 ...


2
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 ...


3
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 ...


4
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 ...


5
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 ...


6
Nicola Diolaiti, Paul E Lilagan: Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose. Intuitive Surgical Operations, November 15, 2016: US09492927 (8 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 an articulated instrument in response to operator manipulation of an associated input device while generating a force command to the input ...


7
Nicola Diolaiti, Paul E Lilagan: Method and system for switching modes of a robotic system. Intuitive Surgical Operations, October 18, 2016: US09469034 (7 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 after a delay. Haptic cues and velocity limits are provid ...


8
Brandon D Itkowitz, Simon P DiMaio, Paul E Lilagan, Tao Zhao: Method and system for hand presence detection in a minimally invasive surgical system. Intuitive Surgical Operations, January 13, 2015: US08935003 (7 worldwide citation)

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using ...


9
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, April 18, 2017: US09622826 (3 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 ...


10
Brandon Itkowitz, Simon P DiMaio, Paul E Lilagan, Tao Zhao: Method and system for hand presence detection in a minimally invasive surgical system. August 29, 2017: US09743989

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using ...