公开(公告)号：US11234776B2

公开(公告)日：2022-02-01

申请号：US16661918

申请日：2019-10-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K McGrogan ,  Craig R. Ramstad ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B1/32 ,  A61B34/30 ,  A61B17/34 ,  A61B17/02

Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.

公开(公告)号：US10271911B2

公开(公告)日：2019-04-30

申请号：US14911514

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K McGrogan ,  Robert E Holop

IPC: A61B34/30 ,  A61B34/00 ,  A61B17/00

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US10022193B2

公开(公告)日：2018-07-17

申请号：US14911516

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  A61B34/30 ,  A61B17/00

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.