公开(公告)号：US11992287B2

公开(公告)日：2024-05-28

申请号：US17045679

申请日：2019-04-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Grant Duque ,  Lawrence Kerver ,  David I. Moreira Ridsdale ,  Harsukhdeep Singh Ratia ,  Joseph P. Orban, III ,  Zhou Ye

IPC: A61B18/12 ,  A61B18/14 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B34/71 ,  A61B18/1445 ,  A61B34/35 ,  A61B2017/00323 ,  A61B2017/2903 ,  A61B2017/2908 ,  A61B17/320016 ,  A61B2018/00595 ,  A61B2034/301 ,  A61B2034/715

Abstract: An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation.

公开(公告)号：US11744662B2

公开(公告)日：2023-09-05

申请号：US17708544

申请日：2022-03-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel T. Crews ,  Harsukhdeep Singh Ratia ,  Nicole Kernbaum

IPC: A61B17/128 ,  A61B17/29 ,  A61B34/00 ,  A61B34/35 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B34/71 ,  A61B17/1285 ,  A61B17/29 ,  A61B34/35 ,  A61B2017/00398 ,  A61B2017/2936 ,  A61B2017/2944 ,  A61B2034/301

Abstract: A force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end effector. Methods relate to operating a force transmission mechanism.

公开(公告)号：US12059311B2

公开(公告)日：2024-08-13

申请号：US16970929

申请日：2019-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Angelica Ruszkowski ,  Gabriel F Brisson ,  Craig R. Gerbi ,  Jason Hemphill ,  Mathew Nussbaum ,  Harsukhdeep Singh Ratia

IPC: A61B18/12 ,  A61B18/08 ,  A61B18/14 ,  A61B90/00 ,  A61B18/00

CPC classification number: A61B90/03 ,  A61B18/085 ,  A61B18/1445 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00678 ,  A61B2018/00875 ,  A61B2090/031 ,  A61B2090/066

Abstract: Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode, The systems and methods further include one or more control units configured to actuate the end effector to grip a material, determine whether a force or torque limit of the actuation is above a first threshold, in response to determining that the force or torque limit is above the first threshold, reduce the force or torque limit, and apply electrical or thermal energy to the material using the electrodes. In some embodiments, the one or more control units are further configured to restore the force or torque limit after application of the electrical or thermal energy to the material is complete. In some embodiments, the force or torque limit is reduced over time.

公开(公告)号：US12059137B2

公开(公告)日：2024-08-13

申请号：US17828441

申请日：2022-05-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel T. Crews ,  Nicole Kernbaum ,  Lawrence Kerver ,  Harsukhdeep Singh Ratia

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/70

CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B90/70 ,  A61B2017/00314 ,  A61B2017/00327 ,  A61B2090/701

Abstract: A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide.

公开(公告)号：US20250032104A1

公开(公告)日：2025-01-30

申请号：US18760588

申请日：2024-07-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel T. Crews ,  Nicole Kernbaum ,  Lawrence Kerver ,  Harsukhdeep Singh Ratia

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/70

Abstract: A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide.

公开(公告)号：US11357483B2

公开(公告)日：2022-06-14

申请号：US14864272

申请日：2015-09-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel T. Crews ,  Nicole Kernbaum ,  Lawrence Kerver ,  Harsukhdeep Singh Ratia

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/70

Abstract: A surgical instrument includes a shaft, a force transmission mechanism disposed at a first end of the shaft, an end effector disposed at a second end of the shaft, an actuation element that extends along the shaft from the force transmission mechanism to the end effector, and an actuation element guide extending along the shaft. The actuation element guide defines a lumen in which the actuation element guide is received. The actuation element guide is compressed into a pre-compressed state along at least a portion of an axial length of the shaft. The actuation element guide can be compressed between first and second blocks of the instrument. The instrument can include a flush tube configured to receive a cleaning fluid, with the actuation element guide being in flow communication with the flush tube to receive the cleaning fluid in the lumen of the actuation element guide.

公开(公告)号：US11304770B2

公开(公告)日：2022-04-19

申请号：US16083150

申请日：2017-03-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Samuel T. Crews ,  Harsukhdeep Singh Ratia ,  Nicole Kernbaum

IPC: A61B34/00 ,  A61B34/35 ,  A61B17/128 ,  A61B17/29 ,  A61B17/00 ,  A61B34/30

Abstract: A force transmission mechanism for a teleoperated surgical instrument includes a drive pulley, a drive cable operably coupled with the drive pulley, a driven pulley operably coupled with the drive cable, and an actuation member operably coupled to the driven pulley. The actuation member is configured to transmit force to actuate an end effector of the surgical instrument. Rotational motion of the driven pulley causes translational movement of the actuation element to actuate the end effector. Methods relate to operating a force transmission mechanism.

公开(公告)号：US10772693B2

公开(公告)日：2020-09-15

申请号：US15391040

申请日：2016-12-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicole Kernbaum ,  Samuel T. Crews ,  Harsukhdeep Singh Ratia

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  B29C48/09 ,  B29C48/21 ,  A61B34/00 ,  A61B1/05 ,  A61B17/28 ,  A61B17/29

Abstract: A surgical instrument may include a shaft, a force transmission mechanism, and an end effector. The shaft may have a proximal end and a distal end. The force transmission mechanism may be coupled to the proximal end of the shaft. The end effector may be coupled to the distal end of the shaft. The shaft may include a body having an outer surface and an inner surface. The inner surface may surround a lumen configured to receive a drive member that extends through the lumen. The outer surface of the body may form an outer surface of the shaft. The body may be made of a single material from the inner surface of the body to the outer surface of the body.