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公开(公告)号：US20230293160A1
公开(公告)日：2023-09-21
申请号：US18101503
申请日：2023-01-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. WATERBURY
CPC classification number: A61B17/00234 , A61B34/35 , A61B2017/00323 , A61B2017/00477
Abstract: A medical device includes a wrist link, an inner pulley, an outer pulley support, an outer pulley, a first tension member, and a second tension member. The wrist list includes a wrist link body and an inner pulley support extending outward from the wrist link body. The inner pulley is rotatably mounted on the inner pulley support and the inner pulley support extending a first distance away from the wrist link. The outer pulley support is coupled to the wrist link body and extends spaced from the wrist link body. The outer pulley is rotatably mounted on the outer pulley support. The outer pulley support is spaced a second distance away from the wrist link, and the second distance is larger than the first distance. The first tension member extends around the inner pulley and the second tension member extends around the outer pulley.
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Patent Agency Ranking
公开(公告)号：US20200246983A1
公开(公告)日：2020-08-06
申请号：US16776753
申请日：2020-01-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Grant M. KADOKURA , Andrew C. WATERBURY
Abstract: A tool includes a transmission mechanism, a shaft rotatable relative to the transmission mechanism, and a stop mechanism associated with the shaft, the stop mechanism being transitionable between a first state and a second state. In the first state, the shaft is free to rotate in a first direction and in a second direction opposite to the first direction. In the second state, the shaft is constrained from rotating in one of the first direction or the second direction by a defined first endpoint of a range of rotational motion of the shaft. Devices and methods relate to rotation stop mechanisms.
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公开(公告)号：US20220192764A1
公开(公告)日：2022-06-23
申请号：US17561294
申请日：2021-12-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. WATERBURY , John Ryan STEGER , Zhou YE
Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.
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公开(公告)号：US20190390403A1
公开(公告)日：2019-12-26
申请号：US16481415
申请日：2018-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. WATERBURY
Abstract: A wire rope comprising: a core that includes a plurality wires; and at least thirteen outer strands that each includes a plurality of wires.
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公开(公告)号：US20210401523A1
公开(公告)日：2021-12-30
申请号：US17293020
申请日：2019-11-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ashwinram SURESH , Grant M. KADOKURA , Andrew C. WATERBURY
Abstract: Control cables in a surgical instrument are kept parallel to the instrument's longitudinal axis to prevent transverse forces from the cables being sensed by a transverse force sensor in the instrument. A surgical instrument includes an elongated hollow shaft having a longitudinal center axis. Multiple cables extend within the shaft. A force sensor includes a beam disposed within the shaft and one or more strain gauges disposed on the beam. A proximal anchor is disposed within the shaft and in contact with a proximal end of the beam. A distal anchor is at the distal end of the shaft and in contact with a distal end of the beam. A cable guide is disposed within the shaft to constrain portions of the multiple cables disposed alongside the beam to movement parallel to the center axis, and so prevent force from the moving cables causing transverse force on the beam.
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公开(公告)号：US20190328467A1
公开(公告)日：2019-10-31
申请号：US16462114
申请日：2017-11-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. WATERBURY , John Ryan STEGER , Zhou YE
Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.
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