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公开(公告)号：US20230119775A1
公开(公告)日：2023-04-20
申请号：US17980058
申请日：2022-11-03
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US20210282793A1
公开(公告)日：2021-09-16
申请号：US17335279
申请日：2021-06-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher ANDERSON , Thomas G. COOPER
Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
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公开(公告)号：US20230279931A1
公开(公告)日：2023-09-07
申请号：US18113775
申请日：2023-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. COOPER , S. Christopher ANDERSON
CPC classification number: F16H21/54 , A61B1/0057 , A61B34/71 , A61B34/30 , B25J9/104 , B25J9/106 , Y10T74/20335 , A61B2017/00477
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US20210251719A1
公开(公告)日：2021-08-19
申请号：US17306498
申请日：2021-05-03
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US20200078129A1
公开(公告)日：2020-03-12
申请号：US16516377
申请日：2019-07-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Thomas G. COOPER , S. Christopher ANDERSON , Matthew R. WILLIAMS
Abstract: Sheaths for medical instruments cover wrist mechanisms to provide a barrier to infiltration of biological material into the instrument, electrical isolation of energized portions of the instrument, seal the instrument to help maintain cavity pressure within a patient, or reduce the chance that two jointed instrument will tangle during a medical procedure.
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Patent Agency Ranking
公开(公告)号：US20220128133A1
公开(公告)日：2022-04-28
申请号：US17569378
申请日：2022-01-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. COOPER , S. Christopher ANDERSON
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US20190282328A1
公开(公告)日：2019-09-19
申请号：US16432390
申请日：2019-06-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： S. Christopher ANDERSON , Jordan M. KLEIN , William J. PARK , Denise PONGANIS , Daniel P. SARALIEV , Philip TRENHOLME
Abstract: In accordance with at least one exemplary embodiment, a surgical instrument comprises a shaft comprising a distal end, a proximal end, and a wall extending from the distal end to the proximal end, the wall surrounding an interior of the shaft. A transmission housing is located at the proximal end of the shaft and the shaft is rotatably coupled to the transmission housing. An actuator in the transmission housing is operably coupled to actuate rotation of the shaft. A port in the transmission housing is configured to be fluidically coupled to a fluid supply. A manifold in the transmission housing comprises an inlet and an outlet, the inlet being in fluid communication with the port, the outlet being in fluid communication with the interior of the shaft at the proximal end of the shaft. The fluid communication of the inlet with the port and the fluid communication of the outlet with the interior of the shaft are maintained through a range of rotational orientations of the shaft relative to the transmission housing.
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公开(公告)号：US20190274781A1
公开(公告)日：2019-09-12
申请号：US16317222
申请日：2017-06-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US20220071727A1
公开(公告)日：2022-03-10
申请号：US17529967
申请日：2021-11-18
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
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公开(公告)号：US20210186544A1
公开(公告)日：2021-06-24
申请号：US17190899
申请日：2021-03-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher ANDERSON , Thomas G. COOPER
Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
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