公开(公告)号：US20190167369A1

公开(公告)日：2019-06-06

申请号：US16250059

申请日：2019-01-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Thomas G. Cooper ,  Todd R. Solomon

IPC: A61B34/00 ,  A61B1/00 ,  A61B34/30 ,  G16H20/30 ,  B25J9/10 ,  A61B34/37 ,  A61B34/35 ,  G16H40/63

Abstract: A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

公开(公告)号：US20180353204A1

公开(公告)日：2018-12-13

申请号：US16050033

申请日：2018-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E, Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Thoeodore W, Rogers

IPC: A61B17/34 ,  F16F1/12 ,  A61B34/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61M13/00 ,  A61B17/02 ,  A61B90/98 ,  A61B50/00

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US20180280097A1

公开(公告)日：2018-10-04

申请号：US16000543

申请日：2018-06-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Robert E. Holop

IPC: A61B34/30 ,  A61B17/00

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US10076348B2

公开(公告)日：2018-09-18

申请号：US14461260

申请日：2014-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher Anderson ,  Thomas G. Cooper

IPC: A61B17/28 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/28 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00477

Abstract: A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.

公开(公告)号：US10016244B2

公开(公告)日：2018-07-10

申请号：US14911508

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Robert E. Holop

IPC: A61B17/00 ,  A61B34/30

CPC classification number: A61B34/30 ,  A61B2017/00477 ,  A61B2034/302

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20180153578A1

公开(公告)日：2018-06-07

申请号：US15866158

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Paul E. Lilagan ,  Daniel H. Gomez ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B17/00

CPC classification number: A61B17/3421 ,  A61B1/00064 ,  A61B17/3474 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00278 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/00362 ,  A61B2017/3445 ,  A61B2017/3466

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends of the instrument guide, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. A first guide channel of the plurality of instrument guide channels is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel of the plurality of instrument guide channels is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and to place a portion of the first surgical instrument supported by the first guide channel of the instrument guide adjacent the inner wall surface of the cannula.

公开(公告)号：US20180116735A1

公开(公告)日：2018-05-03

申请号：US15791386

申请日：2017-10-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael J. Tierney ,  Thomas G. Cooper ,  Christopher A. Julian ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Robert G. Younge

IPC: G06Q30/02 ,  H01H36/00 ,  A61B17/00 ,  A61B18/14 ,  H01H85/00

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  G16H40/63 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

公开(公告)号：US09877792B2

公开(公告)日：2018-01-30

申请号：US15043548

申请日：2016-02-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper

IPC: A61B17/00 ,  A61B34/30 ,  B25J19/00 ,  G02B7/00 ,  A61B34/00 ,  A61B34/37 ,  A61B90/50

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/50 ,  A61B2090/5025 ,  A61B2090/506 ,  A61B2090/508 ,  B25J19/0016 ,  G02B7/001 ,  Y10T29/49826 ,  Y10T74/20311 ,  Y10T74/2154

Abstract: In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter balance a load applied to an end of the second link of the counter balanced arm.

公开(公告)号：US09510734B2

公开(公告)日：2016-12-06

申请号：US14173681

申请日：2014-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  David Q. Larkin ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00 ,  A61B1/018 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B1/005 ,  A61B17/34

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract translation: 两个手术器械通过导管插入。 手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。 立体图像捕获部件位于导管之间的中间位置和导管的远端之间。 图像捕获部件的视场大致垂直于导管的纵轴。 手术器械和引导管被远程手术控制。

公开(公告)号：US09486288B2

公开(公告)日：2016-11-08

申请号：US14708797

申请日：2015-05-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Todd R. Solomon ,  Thomas G. Cooper

IPC: A61B19/00 ,  A61B1/00 ,  B25J9/10 ,  A61B17/00 ,  G06F19/00

CPC classification number: A61B34/71 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00212 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2046/234 ,  B25J9/1045 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G16H40/63 ,  Y10T74/20305

Abstract: An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.