公开(公告)号：EP3278715A2

公开(公告)日：2018-02-07

申请号：EP17188442.2

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas ,  ANDERSON, Christopher S ,  HASSER, Christopher ,  SWARUP, Nitish

IPC分类号： A61B1/008 ,  A61B1/005 ,  A61B1/05 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B1/018

CPC分类号： A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

摘要： The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling at least one degree of freedom motion to the flexible wrist for wrist motion associated with at least one degree of freedom. The endoscopie in accordance to the present invention attenuates indesirable motion at its back/proximal end by acquiring the image of the object in association with at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：EP1965718B1

公开(公告)日：2017-08-30

申请号：EP06851013.0

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： HASSER, Christopher ,  SWARUP, Nitish ,  COOPER, Thomas ,  ANDERSON, S. Christopher

IPC分类号： A61B1/008 ,  A61B1/005 ,  A61B1/018 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B1/05 ,  A61B34/37 ,  A61B17/00 ,  A61B1/00

CPC分类号： A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

摘要： The instrument has a flexible wrist (40) that includes a flexible tube (42) and an inner spring (47). The inner spring is disposed inside the interior cavity of the flexible tube, and has an axis parallel to the axis of the flexible tube. Actuation cables (44) are used for bending the wrist in pitch rotation and yaw rotation. The actuation cables have distal portions connected to an end effector, and extend from the distal portion through the wrist towards an elongated shaft to the proximal portion. The proximal portion of the wrist is connected to the working end of the elongated shaft. The distal portion of the wrist is connected to the end effector.

摘要翻译： 该器械具有包括柔性管（42）和内弹簧（47）的柔性手腕（40）。 内弹簧布置在柔性管的内腔中，并且具有平行于柔性管的轴线的轴线。 致动电缆（44）用于以俯仰旋转和偏航旋转弯曲手腕。 致动缆线具有连接到末端执行器的远侧部分，并且从远侧部分穿过手腕朝向细长轴延伸到近侧部分。 手腕的近端部分连接到细长轴的工作端。 手腕的远侧部分连接到末端执行器。

公开(公告)号：EP1793761B1

公开(公告)日：2013-05-01

申请号：EP05795948.8

申请日：2005-09-09

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas ,  SOLOMON, Todd

IPC分类号： A61B19/00

CPC分类号： A61B19/2203 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/15 ,  Y10T74/20305

公开(公告)号：EP3278715A3

公开(公告)日：2018-04-25

申请号：EP17188442.2

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas ,  ANDERSON, Christopher S ,  HASSER, Christopher ,  SWARUP, Nitish

IPC分类号： A61B1/008 ,  A61B1/005 ,  A61B1/05 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B1/018

CPC分类号： A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

摘要： The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling at least one degree of freedom motion to the flexible wrist for wrist motion associated with at least one degree of freedom. The endoscopie in accordance to the present invention attenuates indesirable motion at its back/proximal end by acquiring the image of the object in association with at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

摘要翻译： 本发明涉及具有至少一个自由度的柔性腕部的关节式微创外科内窥镜。 当与具有多个机器人手臂的手术机器人一起使用时，内窥镜可以与多个手臂中的任何手臂一起使用，从而允许使用通用手臂设计。 根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到用于与至少一个自由度相关联的手腕运动的柔性手腕来使用户更直观。 根据本发明的内窥镜通过基于围绕位于柔性腕关节附近的旋转点旋转的参考框架获取与至少一个自由度相关联的对象的图像来衰减其后/近端处的不可取运动 。

公开(公告)号：EP3104324A1

公开(公告)日：2016-12-14

申请号：EP16174194.7

申请日：1999-12-06

申请人： Intuitive Surgical Operations, Inc.

发明人： TIERNEY, Michael, J. ,  COOPER, Thomas ,  JULIAN, Chris ,  BLUMENKRANZ, Steven, J. ,  YOUNGE, Robert, G ,  GUTHART, Gary, S.

IPC分类号： G06Q30/02 ,  H01H36/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/13 ,  A61B90/90 ,  A61B90/98 ,  A61B17/00 ,  A61B18/14 ,  H01H85/00 ,  A61B90/50 ,  A61B90/00

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

摘要： Robotic surgical tools, systems, and methods for preparing for, and performing robotic surgery include a memory (126) mounted on the tool (54). The memory (126) can perform a number of functions when the tool (54) is loaded on the tool manipulator (58). First, the memory can provide a signal verifying that the tool (54) is compatible with that particular robotic system. Secondly, the tool memory (126) may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory (126) of the tool (54) may indicate tool specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

摘要翻译： 用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在工具（54）上的存储器（126）。 当工具（54）被装载在工具操纵器（58）上时，存储器126能执行许多功能。 首先，存储器可以提供验证工具（54）与该特定机器人系统兼容的信号。 其次，工具存储器（126）可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。 第三，工具（54）的存储器（126）可以指示工具特定信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。 该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。 本发明还提供了用于将机器人手术工具与机械手结构相结合的改进的接合结构。

公开(公告)号：EP3087901A1

公开(公告)日：2016-11-02

申请号：EP16162402.8

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： HASSER, Christopher ,  SWARUP, Nitish ,  COOPER, Thomas ,  ANDERSON, Christopher S

IPC分类号： A61B1/00 ,  A61B34/37 ,  A61B34/35

CPC分类号： A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

摘要： The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling at least one degree of freedom motion to the flexible wrist for wrist motion associated with at least one degree of freedom. The endoscopie in accordance to the present invention attenuates indesirable motion at its back/proximal end by acquiring the image of the object in association with at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

摘要翻译： 本发明涉及一种具有至少一个自由度的柔性手腕的关节式微创手术内窥镜。 当与具有多个机器人手臂的外科手术机器人一起使用时，内窥镜可以与多个臂中的任一个一起使用，从而允许使用通用臂设计。 根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到与至少一个自由度相关的手腕运动的柔性腕部，使得用户更直观。 根据本发明的内窥镜通过基于围绕位于柔性腕部附近的旋转点旋转的参考框架来获取与至少一个自由度相关联的物体的图像来衰减其背部/近端处的不可靠运动 。

公开(公告)号：EP1841379B1

公开(公告)日：2012-09-26

申请号：EP06719471.2

申请日：2006-01-24

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas ,  BLUMENKRANZ, Stephen J ,  GUTHART, Gary S ,  ROSA, David

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/17 ,  Y10S901/18

摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

公开(公告)号：EP3785597A1

公开(公告)日：2021-03-03

申请号：EP20199958.8

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： COOPER, Thomas ,  ANDERSON, Christopher S ,  HASSER, Christopher, J ,  SWARUP, Nitish

IPC分类号： A61B1/00 ,  A61B1/008 ,  A61B1/005 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  A61B1/018 ,  A61B17/00

摘要： The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling at least one degree of freedom motion to the flexible wrist for wrist motion associated with at least one degree of freedom. The endoscopie in accordance to the present invention attenuates indesirable motion at its back/proximal end by acquiring the image of the object in association with at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：EP3087901B1

公开(公告)日：2019-05-01

申请号：EP16162402.8

申请日：2006-12-20

申请人： Intuitive Surgical Operations, Inc.

发明人： HASSER, Christopher ,  SWARUP, Nitish ,  COOPER, Thomas ,  ANDERSON, Christopher S

IPC分类号： A61B1/008 ,  A61B1/05 ,  A61B34/37 ,  A61B34/35 ,  A61B34/00 ,  A61B1/005 ,  A61B1/018 ,  A61B17/00 ,  A61B34/30 ,  A61B1/00

公开(公告)号：EP3104324B1

公开(公告)日：2018-04-18

申请号：EP16174194.7

申请日：1999-12-06

申请人： Intuitive Surgical Operations, Inc.

发明人： TIERNEY, Michael, J. ,  COOPER, Thomas ,  JULIAN, Chris ,  BLUMENKRANZ, Steven, J. ,  YOUNGE, Robert, G ,  GUTHART, Gary, S.

IPC分类号： G06Q30/02 ,  H01H36/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/13 ,  A61B90/90 ,  A61B90/98 ,  A61B17/00 ,  A61B18/14 ,  H01H85/00 ,  A61B90/50 ,  A61B90/00

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  G16H40/63 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

摘要： Robotic surgical tools, systems, and methods for preparing for, and performing robotic surgery include a memory (126) mounted on the tool (54). The memory (126) can perform a number of functions when the tool (54) is loaded on the tool manipulator (58). First, the memory can provide a signal verifying that the tool (54) is compatible with that particular robotic system. Secondly, the tool memory (126) may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory (126) of the tool (54) may indicate tool specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.