公开(公告)号：US20240173092A1

公开(公告)日：2024-05-30

申请号：US18431434

申请日：2024-02-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

IPC: A61B46/10 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B18/00 ,  A61B46/23 ,  F16H1/20

CPC classification number: A61B46/10 ,  A61B1/00142 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2018/00172 ,  A61B46/23 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: A method for attaching a surgical instrument to an instrument carriage includes engaging an instrument sterile adapter with an instrument carriage using a first latch mechanism of the instrument sterile adapter; and engaging a surgical instrument with the instrument sterile adapter using a second latch mechanism of the instrument sterile adapter. In an engaged state of the second latch mechanism with surgical instrument the first latch mechanism is not disengageable from the instrument carriage. The first latch mechanism and the second latch mechanism are coupled to a frame portion of the instrument sterile adapter via a connecting member.

公开(公告)号：US11737834B2

公开(公告)日：2023-08-29

申请号：US16508526

申请日：2019-07-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger

IPC: A61B34/30 ,  A61B34/37 ,  B25J9/00 ,  B25J9/16 ,  A61B17/00 ,  A61B90/50 ,  B25J9/10 ,  B25J17/02 ,  B25J18/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/003 ,  B25J9/1689 ,  A61B2017/00477 ,  A61B2090/506 ,  B25J9/1065 ,  B25J17/0241 ,  B25J18/007

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

公开(公告)号：US11660152B2

公开(公告)日：2023-05-30

申请号：US16998838

申请日：2020-08-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC: A61B34/30 ,  A61B17/072 ,  A61B34/00 ,  A61B17/00 ,  H04W84/12 ,  A61B17/29 ,  A61B17/068 ,  A61B17/115

CPC classification number: A61B34/30 ,  A61B17/07207 ,  A61B34/71 ,  A61B17/068 ,  A61B17/072 ,  A61B17/115 ,  A61B2017/00477 ,  A61B2017/07214 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2034/302 ,  H04W84/12

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

公开(公告)号：US20230082740A1

公开(公告)日：2023-03-16

申请号：US17949549

申请日：2022-09-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/37 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

公开(公告)号：US20220175476A1

公开(公告)日：2022-06-09

申请号：US17678894

申请日：2022-02-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

IPC: A61B34/30 ,  F16M11/20 ,  A61B34/37

Abstract: A robotic surgery system includes an orienting platform, a first manipulator, a second manipulator supported by the orienting platform, and a first set-up linkage by which the first manipulator is coupled to and supported by the orienting platform. The first manipulator includes a first instrument holder configured to support a first surgical instrument. The first manipulator is operable to insert and manipulate the first surgical instrument. The second manipulator includes a second instrument holder configured to support a second surgical instrument. The second manipulator is operable to insert and manipulate the second surgical instrument. The first set-up linkage is operable to selectively reposition the first manipulator relative to the orienting platform.

公开(公告)号：US11045274B2

公开(公告)日：2021-06-29

申请号：US16748419

申请日：2020-01-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir H. Chaghajerdi ,  Niels Smaby ,  Tyler J. Morrissette

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

公开(公告)号：US10898288B2

公开(公告)日：2021-01-26

申请号：US16543826

申请日：2019-08-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

公开(公告)号：US20200222139A1

公开(公告)日：2020-07-16

申请号：US16829856

申请日：2020-03-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Tyler J. Morrissette ,  Bruce Michael Schena

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B17/00

Abstract: A medical device includes an instrument sterile adapter (ISA) that includes a first plate and a second plate. The first plate includes a mounting surface and a plurality of landing pads. The mounting surface provides a first datum plane for mounting the ISA on a carriage that includes actuators. The plurality of landing pads extend through the second plate and provide a second datum plane for a surgical instrument coupled to the ISA such that the first datum plane and the second datum plane are parallel surfaces separated by a fixed distance. The medical device may include a plastic sheet having opposing first and second sides with the first plate located on the first side and the second plate located on the second side. The instrument sterile drape may include a pouch shaped to fit around the carriage with the ISA capturing the pouch between the top and bottom plates.

公开(公告)号：US10543051B2

公开(公告)日：2020-01-28

申请号：US15121718

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Niels Smaby ,  Gregory W. Dachs, II

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B46/10 ,  A61B34/30 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.

公开(公告)号：US09687310B2

公开(公告)日：2017-06-27

申请号：US14265671

申请日：2014-04-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce Michael Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/00 ,  B25J9/16 ,  B25J3/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.