公开(公告)号：US20150320295A1

公开(公告)日：2015-11-12

申请号：US14449925

申请日：2014-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir BELSON ,  Robert M. OHLINE

IPC: A61B1/008 ,  H01L41/193 ,  A61B1/31 ,  H01L41/09 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B1/0053 ,  A61B1/00006 ,  A61B1/0055 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/31 ,  A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  H01L41/0926 ,  H01L41/193

Abstract: An electro-polymeric articulated endoscope and method of insertion are described herein. A steerable endoscope having a segmented, elongated body with a manually or selectively steerable distal portion and an automatically controlled proximal portion can be articulated by electro-polymeric materials. These materials are configured to mechanically contract or expand in the presence of a stimulus, such as an electrical field. Adjacent segments of the endoscope can be articulated using the electro-polymeric material by inducing relative differences in size or length of the material when placed near or around the outer periphery along a portion of the endoscope.

Abstract translation: 这里描述了一种电聚合铰接内窥镜和插入方法。 具有具有手动或选择性可操纵的远侧部分和自动控制的近端部分的分段细长主体的可操纵内窥镜可以通过电聚合材料铰接。 这些材料构造成在诸如电场的刺激的存在下机械地收缩或膨胀。 当沿着内窥镜的一部分放置在外周附近或周围时，通过引起材料的尺寸或长度的相对差异，可以使用电聚合材料来连接内窥镜的相邻段。

公开(公告)号：US20150133858A1

公开(公告)日：2015-05-14

申请号：US14537127

申请日：2014-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. JULIAN ,  Amir BELSON ,  Aaron W. BROWN ,  Mark HARASYM ,  Marc S. KREIDLER ,  Robert M. OHLINE ,  Scott J. REINER ,  Enrique ROMO ,  Charles E. SWINEHART ,  Katherine WHITIN

IPC: A61B1/00 ,  A61B1/005

CPC classification number: A61B1/00128 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/31 ,  A61B2017/003 ,  A61B2017/00477

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

Abstract translation: 本文描述了用于可控制品的连接器组件。 连接器组件接合用于从一个或多个力发生器传递力的力传递元件与用于操纵可控制品的力传递元件。 另外，连接器组件提供组织，从而简化了通常以快速单一运动连接多个元件的过程。

公开(公告)号：US20150038788A1

公开(公告)日：2015-02-05

申请号：US14518546

申请日：2014-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert M. OHLINE ,  Katherine WHITIN ,  Amir BELSON ,  Christopher D. JUSTICE

IPC: A61B19/00 ,  A61B1/31

CPC classification number: A61B90/98 ,  A61B1/005 ,  A61B1/31 ,  A61B5/064 ,  A61B5/065 ,  A61B5/068 ,  A61B8/4254 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2090/062 ,  A61B2090/397 ,  A61B2090/3983

Abstract: One RFID equipped instrument includes an elongate body with a plurality of uniquely identified radio frequency identification chips spaced along the length of the elongate body. One system used for determining the position of an instrument includes an instrument; a plurality of radio frequency identification chips attached to the instrument; a reader connected to an antenna and adapted to communicate with each radio frequency identification chip using the antenna.One method for determining the position of an instrument using radio frequency identification chips includes providing a radio frequency identification chip reader and antenna; providing an instrument having a longitudinal axis and comprising a plurality of radio frequency identification chips placed along the longitudinal axis; moving the instrument relative to the antenna; and using information about a radio frequency identification chip detected by the antenna to determine the position of the instrument.

Abstract translation: 一个RFID装备的仪器包括细长主体，其具有沿着细长主体的长度间隔开的多个唯一识别的射频识别芯片。 用于确定仪器位置的一个系统包括仪器; 附接到所述仪器的多个射频识别芯片; 读取器，连接到天线，并且适于使用天线与每个射频识别芯片进行通信。 使用射频识别芯片确定仪器的位置的一种方法包括提供射频识别芯片读取器和天线; 提供具有纵向轴线并包括沿着纵向轴线放置的多个射频识别芯片的仪器; 相对于天线移动乐器; 并且使用关于由天线检测到的射频识别芯片的信息来确定仪器的位置。

公开(公告)号：US20140121461A1

公开(公告)日：2014-05-01

申请号：US14148322

申请日：2014-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir BELSON

IPC: A61B1/005 ,  A61B1/31

CPC classification number: A61B1/0051 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

Abstract: A steerable endoscope has an elongated body with a selectively steerable distal portion and an automatically controlled proximal portion. The endoscope body is inserted into a patient and the selectively steerable distal portion is used to select a desired path within the patient's body. When the endoscope body is advanced, an electronic motion controller operates the automatically controlled proximal portion to assume the selected curve of the selectively steerable distal portion. Another desired path is selected with the selectively steerable distal portion and the endoscope body is advanced again. As the endoscope body is further advanced, the selected curves propagate proximally along the endoscope body, and when the endoscope body is withdrawn proximally, the selected curves propagate distally along the endoscope body. This creates a serpentine motion in the endoscope body that allows it to negotiate tortuous curves along a desired path through, around, and between organs within the body.

Abstract translation: 可操纵的内窥镜具有细长体，其具有选择性可操纵的远侧部分和自动控制的近端部分。 将内窥镜主体插入到患者体内，并且使用选择性操纵的远端部分来选择患者体内所需的路径。 当内窥镜体前进时，电子运动控制器操作自动控制的近端部分，以呈现选择性可操纵的远端部分的选定曲线。 通过选择性可转向的远端部分选择另一个期望的路径，并且内窥镜主体再次前进。 当内窥镜体进一步前进时，所选择的曲线沿内窥镜向近端传播，并且当向内侧取出内窥镜主体时，所选择的曲线沿着内窥镜主体向远端传播。 这在内窥镜主体中产生蛇形运动，允许其沿着期望的路径协商曲折的曲线，穿过身体内部，身体周围和器官之间。

公开(公告)号：US20210030260A1

公开(公告)日：2021-02-04

申请号：US16928173

申请日：2020-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. JULIAN ,  Amir BELSON ,  Aaron W. BROWN ,  Mark HARASYM ,  Marc S. KREIDLER ,  Robert M. OHLINE ,  Scott J. REINER ,  Enrique ROMO ,  Charles E. SWINEHART ,  Katherine WHITIN

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US20190069763A1

公开(公告)日：2019-03-07

申请号：US16123309

申请日：2018-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. JULIAN ,  Amir BELSON ,  Aaron W. BROWN ,  Mark HARASYM ,  Marc S. KREIDLER ,  Robert M. OHLINE ,  Scott J. REINER ,  Enrique ROMO ,  Charles E. SWINEHART ,  Katherine WHITIN

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/005 ,  A61B1/31 ,  A61B17/00

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US20170027419A1

公开(公告)日：2017-02-02

申请号：US15229177

申请日：2016-08-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Amir BELSON ,  Robert Matthew Ohline

IPC: A61B1/005 ,  G02B23/24 ,  A61B1/012 ,  A61B1/018 ,  A61B1/05 ,  A61B18/14

CPC classification number: A61B1/05 ,  A61B1/0051 ,  A61B1/0052 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0058 ,  A61B1/0125 ,  A61B1/018 ,  A61B1/31 ,  A61B18/02 ,  A61B18/1492 ,  A61B18/22 ,  A61B2017/00296 ,  A61B2017/003 ,  A61B2018/00351 ,  A61B2018/00446 ,  A61B2018/0212 ,  A61B2034/301 ,  G02B23/2469 ,  G02B23/2476 ,  G02B23/2484

Abstract: Methods and apparatus for accessing and treating regions of the body are disclosed herein. Using an endoscopic device having an automatically controllable proximal portion and a selectively steerable distal portion, the device generally may be advanced into the body through an opening. The distal portion is selectively steered to assume a selected curve along a desired path within the body which avoids contact with tissue while the proximal portion is automatically controlled to assume the selected curve of the distal portion. The endoscopic device can then be used for accessing various regions of the body which are typically difficult to access and treat through conventional surgical techniques because the device is unconstrained by “straight-line” requirements. Various applications can include accessing regions of the brain, thoracic cavity, including regions within the heart, peritoneal cavity, etc., which are difficult to reach using conventional surgical procedures.

Abstract translation: 本文公开了用于进入和处理身体区域的方法和装置。 使用具有自动控制的近端部分和选择性可操纵的远端部分的内窥镜装置，该装置通常可以通过开口进入身体。 远侧部分被选择性地转向以沿着主体内的期望路径呈现出选择的曲线，其避免与组织的接触，而近端部分被自动控制以呈现远端部分的选定曲线。 然后，内窥镜装置可用于通过常规手术技术访问身体的各个区域，这些区域通常难以进入和治疗，因为该装置不受“直线”要求的约束。 各种应用可以包括进入脑，胸腔的区域，包括心脏内的区域，腹膜腔等，这些区域难以用常规外科手术达到。

公开(公告)号：US20160331331A1

公开(公告)日：2016-11-17

申请号：US15156686

申请日：2016-05-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert ENO ,  Amir BELSON ,  David BLAHA ,  David MINTZ ,  Bruce R. WOODLEY

IPC: A61B5/00 ,  A61B1/008 ,  A61B5/06 ,  A61B1/00 ,  A61B1/005

CPC classification number: A61B5/7435 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B5/06 ,  A61B5/743

Abstract: The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present invention also relates to a system and method for limiting the amount the steerable distal portion can bend overall to reduce or eliminate the user's ability to over-retroflex the steerable distal portion of the endoscope.

Abstract translation: 通常，本发明涉及向内窥镜用户报告内窥镜的可转向远侧部分的近似三维取向。 更具体地说，本发明涉及一种用于向内窥镜用户提供显示器的系统和方法，从而更容易地确定内窥镜的可转向远端部分的近似三维取向，从而便于内窥镜的导航。 本发明还涉及一种用于限制可转向远侧部分可以整体弯曲的量的系统和方法，以减少或消除使用者对内窥镜的可转向远侧部分的过度逆转的能力。

公开(公告)号：US20150359414A1

公开(公告)日：2015-12-17

申请号：US14833921

申请日：2015-08-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Amir BELSON

IPC: A61B1/005 ,  A61B1/31

CPC classification number: A61B1/0051 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/31 ,  A61B5/065 ,  A61B2034/301 ,  A61B2034/741 ,  A61B2034/742

Abstract: A system for advancing an instrument along an arbitrary path includes a flexible and steerable instrument and an electronic memory configured to store a three-dimensional model of the path, the three-dimension model being generated based on signals from the instrument as it traverses along the path. The system further includes an electronic motion controller logically coupled to the electronic memory, wherein the electronic motion controller is configured to automatically control the instrument to traverse the path based on the three dimensional model.

Abstract translation: 用于沿着任意路径前进仪器的系统包括柔性和可操纵的仪器以及被配置为存储所述路径的三维模型的电子存储器，所述三维模型是基于来自所述仪器的信号而生成的， 路径。 所述系统还包括逻辑上耦合到所述电子存储器的电子运动控制器，其中所述电子运动控制器被配置为基于所述三维模型自动地控制所述仪器横穿所述路径。

公开(公告)号：US20140094648A1

公开(公告)日：2014-04-03

申请号：US14039147

申请日：2013-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert ENO ,  Amir BELSON ,  David BLAHA ,  David MINTZ ,  Bruce Robert WOODLEY

IPC: A61B1/00 ,  A61B5/00 ,  A61B1/008 ,  A61B1/005

CPC classification number: A61B5/7435 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B5/06 ,  A61B5/743

Abstract: A system for graphically visualizing an orientation of a steerable distal portion of an elongate instrument is disclosed. The system includes an instrument having an elongate body. The elongate body includes a proximal portion and a steerable distal portion. The system also includes at least one tensioning member attached to said steerable distal portion, wherein the actuation of said at least one tensioning member results in an approximate y-bend and an approximate x-bend of said steerable distal portion, and wherein said approximate y-bend and approximate x-bend define an approximate overall bend of said steerable distal portion. The system further includes a graphical user interface and an icon representing said approximate overall bend on said graphical user interface.

Abstract translation: 公开了一种用于图形地可视化细长仪器的可转向远端部分的方向的系统。 该系统包括具有细长主体的仪器。 细长体包括近端部分和可操纵远端部分。 所述系统还包括附接到所述可操纵远侧部分的至少一个张紧构件，其中所述至少一个张紧构件的致动导致所述可操纵远侧部分的近似的y形弯曲和近似x形弯曲，并且其中所述近似y 端部和近似x形弯曲限定所述可转向远端部分的近似整体弯曲。 系统还包括图形用户界面和表示所述图形用户界面上的所述近似整体弯曲的图标。