公开(公告)号：US10959807B2

公开(公告)日：2021-03-30

申请号：US15975359

申请日：2018-05-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert M. Ohline ,  Katherine Whitin ,  Amir Belson ,  Christopher D. Justice

IPC: A61B90/98 ,  A61B1/31 ,  A61B1/005 ,  A61B8/00 ,  A61B5/06 ,  A61B34/20 ,  A61B90/00

Abstract: A system may comprise an instrument with an elongate body portion to be moved along a path, one or more datums, and a plurality of sense elements disposed at positions spaced along a length of the elongate body portion. Each sense element may sense or be sensed by one of the datums when in proximity to the datum. The system may also include a processor configured to compare signals transmitted from the datums or from the sense elements, including a first signal and a second signal, and identify, based on the comparison, a state of motion of the elongate body chosen from a state of motion in a forward direction (insertion) along a path and a state of motion in a rearward direction (withdrawal) along the path. The processor may identify the state of motion of the elongate body based on whether the first signal is lower than or higher than the second signal and whether the first and second signals are both increasing or decreasing.

公开(公告)号：US10736490B2

公开(公告)日：2020-08-11

申请号：US16123309

申请日：2018-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005 ,  A61B17/00

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US12076102B2

公开(公告)日：2024-09-03

申请号：US16928173

申请日：2020-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B34/00 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

CPC classification number: A61B34/71 ,  A61B1/00128 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/31 ,  A61B2017/003 ,  A61B2017/00477

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US09980778B2

公开(公告)日：2018-05-29

申请号：US14518546

申请日：2014-10-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert M. Ohline ,  Katherine Whitin ,  Amir Belson ,  Christopher D. Justice

IPC: A61B1/005 ,  A61B5/06 ,  A61B19/00 ,  A61B8/00 ,  A61B1/31 ,  A61B34/20 ,  A61B90/98 ,  A61B90/00

CPC classification number: A61B90/98 ,  A61B1/005 ,  A61B1/31 ,  A61B5/064 ,  A61B5/065 ,  A61B5/068 ,  A61B8/4254 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/2051 ,  A61B2090/062 ,  A61B2090/397 ,  A61B2090/3983

Abstract: One RFID equipped instrument includes an elongate body with a plurality of uniquely identified radio frequency identification chips spaced along the length of the elongate body. One system used for determining the position of an instrument includes an instrument; a plurality of radio frequency identification chips attached to the instrument; a reader connected to an antenna and adapted to communicate with each radio frequency identification chip using the antenna. One method for determining the position of an instrument using radio frequency identification chips includes providing a radio frequency identification chip reader and antenna; providing an instrument having a longitudinal axis and comprising a plurality of radio frequency identification chips placed along the longitudinal axis; moving the instrument relative to the antenna; and using information about a radio frequency identification chip detected by the antenna to determine the position of the instrument.

公开(公告)号：US10105036B2

公开(公告)日：2018-10-23

申请号：US14537127

申请日：2014-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

公开(公告)号：US20160151908A1

公开(公告)日：2016-06-02

申请号：US14958520

申请日：2015-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Robert Woodley ,  Joshua Oen ,  Aaron W. Brown ,  Christopher A. Julian ,  Keith P. Laby ,  Wade A. Keller ,  Lawrence Kerver ,  Marc S. Kriedler ,  Scott J. Reiner ,  Katherine Whitin

IPC: B25J9/06 ,  B25J18/06 ,  A61B1/005 ,  F16C1/10

CPC classification number: B25J9/065 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  B25J18/06 ,  F16C1/106 ,  G02B23/2476

Abstract: A steerable device may comprise an elongate, flexible body comprising a plurality of articulatable segments along at least part of a length of the body, a plurality of coil pipes extending in a spiral configuration along the articulatable segments, a plurality of tendons respectively received within the plurality of coil pipes, and an actuator coupled to the plurality of tendons, the actuator being configured to apply an actuation force to the tendons to selectively actuate articulation of the articulatable segments.

Abstract translation: 可操纵装置可以包括细长的柔性主体，其沿主体的长度的至少一部分包括多个可铰接部分，多个线圈管沿着可铰接部分沿螺旋形构造，多个筋分别容纳在该内部 多个线圈管和联接到所述多个腱的致动器，所述致动器被配置为向所述腱施加致动力以选择性地致动所述可铰接节段的关节。