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101.发明授权Method and means for transferring controller motion from a robotic manipulator to an attached instrument 有权将控制器运动从机器人操纵器传送到附加仪器的方法和装置公开(公告)号：US09144467B2
公开(公告)日：2015-09-29
申请号：US13710340
申请日：2012-12-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Anthony McGrogan
CPC classification number: A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
Abstract: A method of transmitting controller motion from a robotic manipulator to a surgical instrument includes rotating a plate included in the robotic manipulator. The plate has a driving surface that bears against an inner gimbal of a gimbal assembly included in the surgical instrument. The plate is rotated about a center of motion that coincides with an intersection of two rotational axes of the gimbal assembly.
Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的方法包括旋转包括在机器人操纵器中的板。 该板具有支撑在外科器械中包括的万向架组件的内万向架的驱动表面。 平板围绕与万向节组件的两个旋转轴线的交点重合的运动中心旋转。
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公开(公告)号：US20150051618A1
公开(公告)日：2015-02-19
申请号：US14461260
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
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.
Abstract translation: 手术器械包括连接到细长管的手术末端执行器和穿过细长管的杆。 耦合到细长管的控制机构包括具有第一旋转轴线的输入轴，具有垂直于第一轴线的第二旋转轴线的惰轮，以及连接到该杆并具有平行于第三轴线的第三旋转轴线的杆 第二轴。 第一和第二个绞盘固定在输入轴上。 电缆穿过惰轮，并连接到杠杆上。 沿第一方向旋转输入轴将第一缆线卷绕到第一绞盘上，旋转杆，并使杆沿第二方向移动。 使输入轴与第一方向相反的方向将第二缆线卷绕到第二主导轴上，使杆旋转并使杆与第二方向相反地移动。
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公开(公告)号：US20140094824A1
公开(公告)日：2014-04-03
申请号：US14035014
申请日：2013-09-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Todd R. Solomon
IPC: A61B19/00
CPC classification number: A61B34/71 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , Y10S901/15 , Y10T74/20305
Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.
Abstract translation: 公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。 改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。
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公开(公告)号：US20130226197A1
公开(公告)日：2013-08-29
申请号：US13761439
申请日：2013-02-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
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105.发明申请Method and Means for Transferring Controller Motion From a Robotic Manipulator to an Attached Instrument 审中-公开将控制器运动从机器人操纵器传递到附属仪器的方法和手段公开(公告)号：US20130103051A1
公开(公告)日：2013-04-25
申请号：US13710340
申请日：2012-12-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Anthony McGrogan
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/71 , A61B90/10 , A61B2017/00477 , Y10T74/20323 , Y10T74/20335
Abstract: A method of transmitting controller motion from a robotic manipulator to a surgical instrument includes rotating a plate included in the robotic manipulator. The plate has a driving surface that bears against an inner gimbal of a gimbal assembly included in the surgical instrument. The plate is rotated about a center of motion that coincides with an intersection of two rotational axes of the gimbal assembly.
Abstract translation: 将控制器运动从机器人操纵器传递到手术器械的方法包括旋转包括在机器人操纵器中的板。 该板具有支撑在外科器械中包括的万向架组件的内万向架的驱动表面。 平板围绕与万向节组件的两个旋转轴线的交点重合的运动中心旋转。
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Patent Agency Ranking
公开(公告)号：US20130096576A1
公开(公告)日：2013-04-18
申请号：US13706738
申请日：2012-12-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B90/361 , A61B2017/00477 , A61B2034/304 , A61B2034/305 , A61B2090/506 , Y10S901/09 , Y10S901/14 , Y10S901/15 , Y10S901/16 , Y10S901/17 , Y10S901/18
Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
Abstract translation: 机器人手术系统包括安装基座，多个外科器械和关节支撑组件。 每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。 铰接支撑组件相对于基座可移动地支撑仪器。 支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。
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公开(公告)号：US12239497B2
公开(公告)日：2025-03-04
申请号：US18376726
申请日：2023-10-04
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：US12076038B2
公开(公告)日：2024-09-03
申请号：US17190899
申请日：2021-03-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
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：US11969889B2
公开(公告)日：2024-04-30
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: B25J9/1045 , A61B1/0057 , A61B34/71 , B25J9/104 , B25J9/106 , A61B2017/00477 , A61B34/30 , A61B2034/304 , A61B2034/306 , F16H21/54 , Y10T74/18712 , Y10T74/20335
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：US11957304B2
公开(公告)日：2024-04-16
申请号：US18308477
申请日：2023-04-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
IPC: A61B90/10 , A61B1/00 , A61B1/002 , A61B1/005 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/00 , A61B8/12 , A61B17/00 , A61B34/00 , A61B34/30 , A61B34/37 , A61B17/34 , A61B34/20 , A61B90/00
CPC classification number: A61B1/00087 , A61B1/00149 , A61B1/00154 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0051 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/0034 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B90/361
Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.
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