公开(公告)号：US20150313452A1

公开(公告)日：2015-11-05

申请号：US14663854

申请日：2015-03-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. HASSER ,  Nitish SWARUP ,  Thomas G. COOPER ,  S. Christopher ANDERSON

IPC: A61B1/00 ,  A61B1/05 ,  A61B19/00 ,  A61B1/005 ,  A61B1/008

CPC classification number: A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract translation: 本发明涉及一种具有至少一个自由度的柔性手腕的关节式微创手术内窥镜。 当与具有多个机器人手臂的外科手术机器人一起使用时，内窥镜可以与多个臂中的任一个一起使用，从而允许使用通用臂设计。 根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到与至少一个自由度相关联的手腕运动的柔性手腕，使得用户更直观。 根据本发明的内窥镜通过基于围绕位于柔性的近侧的旋转点旋转的参考框架来获取与至少一个自由度相关联的物体的图像来衰减其背部/近端处的不期望的运动 腕。

公开(公告)号：US20130291654A1

公开(公告)日：2013-11-07

申请号：US13932128

申请日：2013-07-01

Applicant: Intuitive Surgical Operations, Inc

Inventor： Stephen J. BLUMENKRANZ ,  Christopher J. HASSER

IPC: A61B19/00

CPC classification number: G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.