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91.发明授权公开(公告)号：US09295524B2
公开(公告)日：2016-03-29
申请号：US13906888
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477 , A61B2034/305
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。
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公开(公告)号：US20150366625A1
公开(公告)日：2015-12-24
申请号：US14748602
申请日：2015-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Liligan
CPC classification number: A61B34/30 , A61B1/00183 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B34/10 , A61B34/20 , A61B34/35 , A61B34/37 , A61B90/00 , A61B90/361 , A61B90/37 , A61B2034/101 , A61B2034/102 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2034/2059 , A61B2034/301 , A61B2034/302 , A61B2034/303 , A61B2034/305 , A61B2034/306 , A61B2090/0811 , A61B2090/3762
Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.
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公开(公告)号：US20140296872A1
公开(公告)日：2014-10-02
申请号：US14305338
申请日：2014-06-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： THOMAS G. COOPER , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert Elliot Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
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 entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
Abstract translation: 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。
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94.发明申请USER SELECTION OF ROBOTIC SYSTEM OPERATING MODES USING MODE DISTINGUISHING OPERATOR ACTIONS 有权用户选择使用模式识别操作者操作的机器人系统操作模式公开(公告)号：US20130211590A1
公开(公告)日：2013-08-15
申请号：US13768187
申请日：2013-02-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , Daniel H. Gomez , Probal Mitra , Tabish Mustufa
IPC: B25J13/06
CPC classification number: B25J13/065 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00207 , A61B2017/00973 , A61B2034/302 , B25J9/1689 , B25J13/04 , B25J13/06
Abstract: A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.
Abstract translation: 机器人系统具有多个用户可选择的操作模式。 为了选择操作模式之一，用户执行唯一地识别多个用户可选择操作模式期望的操作模式的区分动作。 由机器人系统中的处理器实现的方法识别区分动作，并将机器人系统置于用户选择的操作模式中。
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公开(公告)号：US12262970B2
公开(公告)日：2025-04-01
申请号：US18599768
申请日：2024-03-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Daniel H. Gomez , Ian E. McDowall , Govinda Payyavula , John Ryan Steger
Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication 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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Patent Agency Ranking
公开(公告)号：US12239396B2
公开(公告)日：2025-03-04
申请号：US17835631
申请日：2022-06-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Marc E. Tognaccini , Daniel H. Gomez , Nicola Diolaiti , Tabish Mustufa , Probal Mitra , Paul E. Lilagan
IPC: A61B5/00 , A61B1/00 , A61B1/018 , A61B1/04 , A61B34/30 , A61B34/37 , A61B34/10 , A61B34/20 , A61B34/35 , A61B90/00
Abstract: A medical system comprises an entry guide, a display, and a processor. The processor may be configured to receive state information for an articulatable image capture device controllably extendable out of a distal end of the entry guide. The processor may be configured to generate a view including a graphical representation of a distal end portion of the articulatable image capture device as determined from the received state information and a graphical representation of a field of view of the articulatable image capture device extending distally from the distal end portion of the articulatable image capture device. The processor may also cause the view to be displayed on the display.
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公开(公告)号：US20240390068A1
公开(公告)日：2024-11-28
申请号：US18670002
申请日：2024-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Steven Manuel , Daniel H. Gomez , Daniel N. Miller , John Ryan Steger , Prasad V. Upadrasta , Zhuoqun Xu , Chun hua Zheng , Pavel Chtcheprov
Abstract: A computer-assisted system can comprise an instrument configured to be at least partially inserted through a body wall from an external workspace to an internal workspace within a body; and a controller configured to generate a first three-dimensional model of the internal workspace in which a first portion of the instrument is inserted during performance of a medical procedure using the instrument, generate a second three-dimensional model of an external workspace in which a second portion of the instrument is located during the performance of the medical procedure, based on the first three-dimensional model and the second three-dimensional model, determine an internal geometry within the internal workspace defining a reachable volume within the internal workspace within which the instrument may be positioned, and provide output related to performance of the medical procedure based on the determined internal geometry.
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公开(公告)号：US11998292B2
公开(公告)日：2024-06-04
申请号：US17474419
申请日：2021-09-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. McDowall , Amy Kerdok
CPC classification number: A61B34/35 , A61B34/76 , A61B2017/00464 , A61B2017/00477 , A61B2034/715 , A61B2090/065 , A61B2090/066 , A61B2090/0809 , A61B2090/571 , G16H40/60
Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.
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公开(公告)号：US11986262B2
公开(公告)日：2024-05-21
申请号：US18083248
申请日：2022-12-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Robert E. Holop , Anthony K. McGrogan , Jeffrey R. Roeder , Daniel H. Gomez , Arjang M. Hourtash , Thomas Brennan-Marquez , Probal Mitra
IPC: A61B34/00 , A61B17/34 , A61B34/30 , A61B34/35 , A61B46/10 , B25J9/12 , B25J9/16 , B25J13/06 , A61B17/00
CPC classification number: A61B34/35 , A61B17/3476 , A61B34/30 , A61B34/71 , A61B46/10 , B25J9/126 , B25J9/1689 , B25J13/06 , A61B2017/00398 , A61B2017/00473 , G05B2219/45117
Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.
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公开(公告)号：US11957427B2
公开(公告)日：2024-04-16
申请号：US17330672
申请日：2021-05-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Carolyn M. Fenech , Daniel H. Gomez , Jason N. Stamatelaky
CPC classification number: A61B34/71 , A61B34/35 , B25J9/106 , F16H7/08 , F16H2007/0865
Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.
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