公开(公告)号：US20200282570A1

公开(公告)日：2020-09-10

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20230390007A1

公开(公告)日：2023-12-07

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US20230117645A1

公开(公告)日：2023-04-20

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Jeffrey R. ROEDER ,  Daniel H. GOMEZ ,  Arjang M. HOURTASH ,  Thomas BRENNAN-MARQUEZ ,  Probal MITRA

IPC: A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

公开(公告)号：US20240415589A1

公开(公告)日：2024-12-19

申请号：US18817330

申请日：2024-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.

公开(公告)号：US20220183780A1

公开(公告)日：2022-06-16

申请号：US17683949

申请日：2022-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. COOPER ,  Jeffrey D. BROWN ,  Nicola DIOLAITI ,  Eugene F. DUVAL ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Paul E. LILAGAN ,  Anthony K. MCGROGAN ,  Craig R. RAMSTAD

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

公开(公告)号：US20240293942A1

公开(公告)日：2024-09-05

申请号：US18591683

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/90

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20240090958A1

公开(公告)日：2024-03-21

申请号：US18243311

申请日：2023-09-07

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: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

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

公开(公告)号：US20230210614A1

公开(公告)日：2023-07-06

申请号：US18091941

申请日：2022-12-30

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: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

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

公开(公告)号：US20200222130A1

公开(公告)日：2020-07-16

申请号：US16831312

申请日：2020-03-26

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: A61B34/30

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