IP Library › Granted Patent US 12,661,197

Granted Patent B2

US 12,661,197 · App. 18/903,768 · Granted Jun 23, 2026

Teleoperated surgical system with patient health records based instrument control

Inventors: William C. Nowlin (Los Altos Hills, CA); Mahdi Azizian (San Jose, CA); Simon P. DiMaio (San Carlos, CA); Brian D. Hoffman (Mountain View, CA); Paul W. Mohr (Mountain View, CA)

Assignee: Intuitive Surgical Operations, Inc.

A61B34/35 A61B34/10 A61B34/20 A61B34/25 A61B34/37 A61B90/37 G16H20/40 G16H40/67 A61B2017/00477 A61B2018/00595 A61B2018/00988 A61B2034/107 A61B2034/252 A61B2034/254 A61B2034/256 A61B2090/031

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Quick Facts

Patent No.: US 12,661,197
App. No.: 18/903,768
Granted: Jun 23, 2026
Kind: B2

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Abstract

A method is provided for intra-surgical use of a surgical patient health record in a teleoperated surgical system that includes a surgical instrument and a surgical instrument actuator, comprising: receiving user input commands to control movement of a robotic surgical instrument; tracking robotic surgical instrument actuator state in response to the user input commands; and transitioning robotic surgical instrument actuator state to a safety mode in response to the robotic surgical instrument transitioning to a prescribed actuator state.

Claims (42)

1 . A method of transitioning a surgical system to a safety mode operation, the method comprising:

identifying, by the one or more processors, a health record of a surgical patient that identifies one or more health characteristics of the surgical patient;

identifying, by the one or more processors based at least on a first health characteristic of the one or more health characteristics of the surgical patient, a first surgical stage of a plurality of stages of a surgical procedure to be performed using one or more robotic surgical instruments that poses an enhanced risk to the surgical patient;

identifying, by the one or more processors, that the first surgical stage of the surgical procedure is associated with the first actuation state of plurality of actuation states of a robotic surgical instrument of the one or more robotic surgical instrument and the first safety actuation state of the robotic surgical instrument;

identifying, by the one or more processors, that the first robotic surgical instrument transitioned to the first actuation state;

matching the first surgical stage with the first health characteristic of the surgical patient;

determining that the first actuation state of the first robotic instrument matches the first safety actuation state of the robotic surgical instrument associated with the first surgical stage; and

causing, responsive to the determination, the robotic surgical instrument to transition to a safety mode operation identified by the first safety actuation state associated with the first actuation state.

2 . The method of claim 1 , further comprising receiving, by the one or more processors via a user interface, surgical procedure information that identifies the plurality of surgical stages of the surgical procedure.

3 . The method of claim 1 , further comprising receiving, by the one or more processors via a user interface, the health record of the surgical patient.

4 . The method of claim 1 , further comprising receiving, by the one or more processors, input commands from a user to control movement of the robotic surgical instrument.

5 . The method of claim 1 , further comprising tracking, by the one or more processors, surgical instrument actuation state of the robotic instrument during movement of the robotic surgical instrument in response to the input commands.

6 . The method of claim 1 , further comprising using, by the one or more processors, to match the first surgical stage with the first health characteristic of the surgical patient, one or more information structures that associate the plurality of actuation states with the plurality of safety actuation states for one or more of the plurality of surgical stages with one or more health characteristics of the surgical patient and one or more enhanced risks related to the one or more health characteristics of the surgical patient.

7 . The method of claim 1 , further comprising using, by the one or more processors, to match the first safety actuation state of the robotic surgical instrument associated with the first surgical stage, one or more information structures that associate the first health characteristic of the one or more health characteristics of the surgical patient with each of: the first surgical stage of the multiple stages of the surgical procedure, the enhanced risk of the one or more enhanced risks associated with the one or more health characteristics of the surgical patient, the first actuation state and the first safety actuation state.

8 . A surgical system comprising:

one or more processors, coupled to memory, and configured to:

identify a health record of a surgical patient that identifies one or more health characteristics of the surgical patient;

identify, based at least on a first health characteristic of the one or more health characteristics of the surgical patient, a first surgical stage of a plurality of stages of a surgical procedure to be performed using one or more robotic surgical instruments that poses an enhanced risk to the surgical patient;

identify that the first surgical stage of the surgical procedure is associated with the first actuation state of plurality of actuation states of a robotic surgical instrument of the one or more robotic surgical instrument and the first safety actuation state of the robotic surgical instrument;

identify that the first robotic surgical instrument transitioned to the first actuation state;

match the first surgical stage with the first health characteristic of the surgical patient;

determine that the first actuation state of the first robotic instrument matches the first safety actuation state of the robotic surgical instrument associated with the first surgical stage; and

cause, responsive to the determination, the robotic surgical instrument to transition to a safety mode operation identified by the first safety actuation state associated with the first actuation state.

9 . The surgical system of claim 8 , wherein the one or more processors are further configured to provide user interface via which to receive surgical procedure information that identifies the plurality of surgical stages of the surgical procedure.

10 . The surgical system of claim 8 , wherein the one or more processors are further configured to provide a user interface via which to receive the health record of the surgical patient.

11 . The surgical system of claim 8 , wherein the one or more processors are further configured to receive input commands from a user to control movement of the robotic surgical instrument.

12 . The surgical system of claim 8 , wherein the one or more processors are further configured to track surgical instrument actuation state of the robotic instrument during movement of the robotic surgical instrument in response to the input commands.

13 . The surgical system of claim 8 , wherein the one or more processors are further configured to use one or more information structures to match the first surgical stage with the first health characteristic of the surgical patient, the one or more information structures that associate the plurality of actuation states with the plurality of safety actuation states for one or more of the plurality of surgical stages with one or more health characteristics of the surgical patient and one or more enhanced risks related to the one or more health characteristics of the surgical patient.

14 . The surgical system of claim 8 , wherein the one or more processors are further configured to use one or more information structures to match the first safety actuation state of the robotic surgical instrument associated with the first surgical stage, the one or more information structures that associate the first health characteristic of the one or more health characteristics of the surgical patient with each of: the first surgical stage of the multiple stages of the surgical procedure, the enhanced risk of the one or more enhanced risks associated with the one or more health characteristics of the surgical patient, the first actuation state and the first safety actuation state.

15 . A non-transitory computer-readable medium comprising instructions configured to cause a surgical system to perform operations comprising:

identify a health record of a surgical patient that identifies one or more health characteristics of the surgical patient;

identify that the first robotic surgical instrument transitioned to the first actuation state;

match the first surgical stage with the first health characteristic of the surgical patient;

determine that the first actuation state of the first robotic instrument matches the first safety actuation state of the robotic surgical instrument associated with the first surgical stage;

16 . The non-transitory computer-readable medium of claim 15 , further comprising instructions configured to cause the surgical system to provide a user interface via which to receive surgical procedure information that identifies the plurality of surgical stages of the surgical procedure or the health record of the surgical patient.

17 . The non-transitory computer-readable medium of claim 15 , further comprising instructions configured to cause the surgical system to track surgical instrument actuation state of the robotic instrument during movement of the robotic surgical instrument in response to the input commands.

18 . The non-transitory computer-readable medium of claim 15 , further comprising instructions configured to cause the surgical system to provide a user interface via which to receive the health record of the surgical patient.

19 . The non-transitory computer-readable medium of claim 15 , further comprising instructions configured to cause the surgical system to use one or more information structures to match the first surgical stage with the first health characteristic of the surgical patient, the one or more information structures that associate the plurality of actuation states with the plurality of safety actuation states for one or more of the plurality of surgical stages with one or more health characteristics of the surgical patient and one or more enhanced risks related to the one or more health characteristics of the surgical patient.

20 . The non-transitory computer-readable medium of claim 15 , further comprising instructions configured to cause the surgical system to use one or more information structures to match the first safety actuation state of the robotic surgical instrument associated with the first surgical stage, the one or more information structures that associate the first health characteristic of the one or more health characteristics of the surgical patient with each of: the first surgical stage of the multiple stages of the surgical procedure, the enhanced risk of the one or more enhanced risks associated with the one or more health characteristics of the surgical patient, the first actuation state and the first safety actuation state.