公开(公告)号：US12082900B2

公开(公告)日：2024-09-10

申请号：US16971984

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep Ratia ,  Alain Sadaka ,  Zhou Ye

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/02 ,  B25J15/02 ,  A61B34/30

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61B34/74 ,  B25J9/02 ,  B25J15/022 ,  A61B2034/302 ,  A61B2034/305

Abstract: Systems and methods of assembling a wrist assembly are provided. The wrist assembly includes a tension member, a first link, and a second link. The second link includes an assembly path, a guide path, and a retention pocket. A first end portion of the tension member is inserted through the assembly path within the second link. The tension member is configured to be rotated to transition the first tension member portion from the assembly path to be within the guide path. The retention member is retained within the retention pocket on a condition that the first tension member portion is rotated to be within the guide path such that movement of the tension member relative to the second link is limited. Movement of the first tension member portion within the second guide path urges the second link to rotate relative to the first link.

公开(公告)号：US12251088B2

公开(公告)日：2025-03-18

申请号：US17869045

申请日：2022-07-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhou Ye ,  Harsukhdeep Ratia ,  Alain Sadaka

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

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

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：US11439376B2

公开(公告)日：2022-09-13

申请号：US16971982

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep Ratia ,  Alain Sadaka ,  Zhou Ye

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

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

公开(公告)号：US11241290B2

公开(公告)日：2022-02-08

申请号：US16462114

申请日：2017-11-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew C. Waterbury ,  John Ryan Steger ,  Zhou Ye

IPC: A61B34/30 ,  B25J15/00 ,  B25J9/10 ,  B25J17/02 ,  A61B17/29 ,  A61B34/00 ,  A61B17/00

Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.

公开(公告)号：US12257014B2

公开(公告)日：2025-03-25

申请号：US17840859

申请日：2022-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lizmarie Comenencia Ortiz ,  Jason Miao ,  David Moreira Ridsdale ,  Harsukhdeep S. Ratia ,  Sharathchandra Somayaji ,  Zhou Ye

IPC: A61B34/00 ,  A61B34/35 ,  G01L1/22 ,  G01L5/10

Abstract: A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is imparted to the body. A strain sensor measures the strain on the body as an indication of strain in the connector, which is an indication of torque or force at the end effector. The connector may be continuous, and coupled to the body with a slack relief portion of the connector within the body. Alternatively, the connector may be discontinuous and coupled to opposite ends of the body.

公开(公告)号：US12239393B2

公开(公告)日：2025-03-04

申请号：US17322276

申请日：2021-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhou Ye ,  Harsukhdeep Ratia ,  Ashwinram Suresh ,  Craig Tsuji

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  B25J19/06 ,  A61B17/29

Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.

公开(公告)号：US12185974B2

公开(公告)日：2025-01-07

申请号：US17768298

申请日：2020-10-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David I. Moreira Ridsdale ,  Harsukhdeep S. Ratia ,  Craig Tsuji ,  Zhou Ye

IPC: A61B17/34 ,  A61B17/00 ,  A61B90/00

Abstract: A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.