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    Method and means for transferring controller motion from a robotic manipulator to an attached instrument
    4.
    发明授权
    Method and means for transferring controller motion from a robotic manipulator to an attached instrument 有权
    将控制器运动从机器人操纵器传送到附加仪器的方法和装置

    公开(公告)号：US09333045B2

    公开(公告)日：2016-05-10

    申请号：US14868178

    申请日：2015-09-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas Cooper ,  Anthony McGrogan

    IPC: A61B19/00 ,  A61B17/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B90/10 ,  A61B2017/00477 ,  Y10T74/20323 ,  Y10T74/20335

    Abstract: A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.

    Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的耦合器包括具有带有支承表面的尖端的销和具有支撑在手术器械中的万向节组件上的驱动表面的板。 板具有支撑在销的支承表面上的表面。 轴承表面具有与万向节组件的两个旋转轴线的交点相重合的中心。 板绕轴承表面的中心旋转，以将控制器运动传递到手术器械。 在板的驱动表面上可能存在对准特征，以与万向节组件的内部万向节上的对应特征相配合。 致动器臂可以连接到板的一侧。 致动器机构可以连接到致动器臂以使板绕轴承表面的中心旋转。

    METHOD AND MEANS FOR TRANSFERRING CONTROLLER MOTION FROM A ROBOTIC MANIPULATOR TO AN ATTACHED INSTRUMENT
    6.
    发明申请
    METHOD AND MEANS FOR TRANSFERRING CONTROLLER MOTION FROM A ROBOTIC MANIPULATOR TO AN ATTACHED INSTRUMENT 有权
    用于将控制器运动从机器人操纵器传送到附件仪器的方法和手段

    公开(公告)号：US20160015463A1

    公开(公告)日：2016-01-21

    申请号：US14868178

    申请日：2015-09-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas Cooper ,  Anthony McGrogan

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B90/10 ,  A61B2017/00477 ,  Y10T74/20323 ,  Y10T74/20335

    Abstract: A coupler to transfer controller motion from a robotic manipulator to a surgical instrument includes a pin having a tip with a bearing surface and a plate having a driving surface that bears against a gimbal assembly in the surgical instrument. The plate has a surface supported on the bearing surface of the pin. The bearing surface has a center that coincides with an intersection of two rotational axes of the gimbal assembly. The plate is rotated about the center of the bearing surface to transfer controller motion to the surgical instrument. There may be alignment features on the driving surface of the plate to mate with corresponding features on an inner gimbal of the gimbal assembly. An actuator arm may be connected to one side of the plate. An actuator mechanism may be connected to the actuator arm to rotate the plate about the center of the bearing surface.

    Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的耦合器包括具有带有支承表面的尖端的销和具有支撑在手术器械中的万向节组件上的驱动表面的板。 板具有支撑在销的支承表面上的表面。 轴承表面具有与万向节组件的两个旋转轴线的交点相重合的中心。 板绕轴承表面的中心旋转，以将控制器运动传递到手术器械。 在板的驱动表面上可能存在对准特征，以与万向节组件的内部万向节上的对应特征相配合。 致动器臂可以连接到板的一侧。 致动器机构可以连接到致动器臂以使板绕轴承表面的中心旋转。

    LEVER ACTUATED OUTPUT GIMBALS
    7.
    发明申请
    LEVER ACTUATED OUTPUT GIMBALS 审中-公开
    LEVER致动输出GIMBALS

    公开(公告)号：US20140076077A1

    公开(公告)日：2014-03-20

    申请号：US14083245

    申请日：2013-11-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Thomas G. Cooper ,  Anthony McGrogan ,  Matthew Reagan Williams ,  Eugene F. Duval ,  S. Christoper Anderson

    IPC: B25J13/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  B25J13/00 ,  G05G9/00 ,  Y10T74/18832 ,  Y10T74/18856 ,  Y10T74/20018 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A force transmission transmits a force to a primary output gimbal plate and a secondary output gimbal plate. The secondary output gimbal plate supports the primary output gimbal plate. Each of three primary levers is supported by a primary pivot. Each primary lever is coupled to the primary output gimbal plate such that the three couplings are not collinear. Each of three secondary levers is supported by a secondary pivot. Each secondary lever is coupled to one of the primary levers by a force applying connector. Each secondary lever is coupled to the secondary output gimbal plate such that the three couplings are not collinear. The output gimbal plates may be coupled to the levers by flexible cables. The cables may be substantially contained within a tube. The output gimbal plates may be substantially smaller than the input gimbal plate.

    Abstract translation: 力传递将力传递到主输出万向板和辅助输出万向板。 二次输出万向板支持主输出万向板。 三个主要杠杆中的每一个都由主枢轴支撑。 每个主杆连接到主输出万向板，使得三个联轴器不共线。 三个辅助杠杆中的每一个由辅助枢轴支撑。 每个副杠杆通过施力连接器联接到主杆之一。 每个副杠杆连接到次级输出万向板，使得三个联轴器不共线。 输出万向节板可以通过柔性电缆耦合到杠杆。 电缆可以基本上包含在管内。 输出万向节板可以显着地小于输入的万向板。

    GIMBAL AND LEVERS WITH EQUALIZER
    8.
    发明申请
    GIMBAL AND LEVERS WITH EQUALIZER 审中-公开

    公开(公告)号：US20140076076A1

    公开(公告)日：2014-03-20

    申请号：US14083241

    申请日：2013-11-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Thomas G. Cooper ,  Anthony McGrogan ,  Matthew Reagan Williams ,  Eugene F. Duval ,  S. Christoper Anderson

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  B25J13/00 ,  G05G9/00 ,  Y10T74/18832 ,  Y10T74/18856 ,  Y10T74/20018 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of the lever arm. The gimbal plate may be coupled to the three lever arms by flexible cables or by links that transmit compression forces but not tension forces. The cables may be substantially contained within a tube. The links may be electrically non-conductive. The force transmission may control a surgical end effector in a teleoperated surgical instrument.

    Abstract translation: 力传递包括具有两个自由度的万向板。 三个杠杆臂中的每一个由杠杆臂的两端之间的枢轴支撑。 每个杠杆臂的一端连接到万向板，使得三个联轴器不共线。 均衡器电缆具有两个相对的端部，每个端部固定地联接到杠杆臂中的一个。 均衡器电缆被布置在杠杆臂滑轮上，杠杆臂滑轮枢转地联接到杠杆臂的另一个在杠杆臂的枢轴和一端之间。 万向板可以通过柔性电缆或通过传递压缩力而不是张力的连杆联接到三个杠杆臂。 电缆可以基本上包含在管内。 链路可以是非导电的。 力传递可以控制远程手术器械中的手术末端执行器。

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