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公开(公告)号：US11974826B2
公开(公告)日：2024-05-07
申请号：US18081383
申请日：2022-12-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
CPC classification number: A61B34/35 , A61B34/30 , A61B50/20 , A61B90/50 , B25J9/106 , B25J9/1689 , A61B2017/00464 , A61B2017/00477 , A61B17/3423 , A61B2034/301 , A61B2034/305
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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公开(公告)号：US20230112200A1
公开(公告)日：2023-04-13
申请号：US18081383
申请日：2022-12-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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公开(公告)号：US11272993B2
公开(公告)日：2022-03-15
申请号：US16633517
申请日：2018-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.
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公开(公告)号：US11135027B2
公开(公告)日：2021-10-05
申请号：US16326851
申请日：2017-10-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , Daniel H. Gomez , John Ryan Steger
Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to amounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.
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公开(公告)号：US11129683B2
公开(公告)日：2021-09-28
申请号：US16316939
申请日：2017-07-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrissette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
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Patent Agency Ranking
公开(公告)号：US20210251705A1
公开(公告)日：2021-08-19
申请号：US17246008
申请日：2021-04-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , Daniel H. Gomez , Amy Kerdok , Ian E. McDowall , John Ryan Steger
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
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公开(公告)号：US20210137635A1
公开(公告)日：2021-05-13
申请号：US17053239
申请日：2019-04-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel H. Gomez , John Ryan Steger
Abstract: A medical device system includes: an auxiliary rail including a frame and a flange extending from the frame; and a surgical arm mounting device including a coupler and a surgical arm interface. The frame is configured to be mounted on a side rail of an operating table. The coupler includes a clamp for the flange of the auxiliary table rail. The clamp of the coupler has a first mechanical state in which the mounting device is fixed to the auxiliary rail and a second mechanical state in which the mounting device is translatable along the auxiliary rail. The surgical arm interface receives a mating mounting device interface of a surgical arm.
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公开(公告)号：US10786321B2
公开(公告)日：2020-09-29
申请号：US16072140
申请日：2017-01-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Alan W. Petersen , Gerard J. Labonville , John Ryan Steger
Abstract: A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.
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公开(公告)号：US10716617B2
公开(公告)日：2020-07-21
申请号：US15348127
申请日：2016-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel T. Crews , John Ryan Steger
Abstract: A surgical instrument includes a shaft having a proximal end and a distal end and end effector coupled to the distal end of the shaft. An electrical transmission conduit extends along the shaft from the proximal end to the distal end and is configured to deliver electrical energy to energize the end effector. A connector assembly electrically couples the electrical transmission conduit to the end effector, and the end effector is pivotably coupled to the connector assembly. In another aspect, a surgical instrument includes a pin, an electrically conductive connector including a contact portion and an attachment, the contact portion surrounding the pin. An electrical conduit is electrically coupled to the attachment of the connector. An electrically conductive jaw including an aperture is pivotable around the contact portion, and the contact portion electrically contacts the jaw at the aperture of the jaw.
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公开(公告)号：US20200222129A1
公开(公告)日：2020-07-16
申请号：US16633517
申请日：2018-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.
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