公开(公告)号：US20240000532A1

公开(公告)日：2024-01-04

申请号：US18327238

申请日：2023-06-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Craig R. Ramstad

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  B25J15/00 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

CPC classification number: A61B34/70 ,  B32B3/12 ,  F16F1/121 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/3421 ,  A61B34/00 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H05K1/18 ,  A61B1/00135 ,  A61B1/00142 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  B25J15/0066 ,  A61B17/3423 ,  B25J15/04 ,  A61B17/0218 ,  A61B17/3474 ,  A61M13/003 ,  Y10T74/20305 ,  A61B2017/00477

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US11744656B2

公开(公告)日：2023-09-05

申请号：US17242918

申请日：2021-04-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  Thomas G. Cooper

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

CPC classification number: A61B34/30 ,  A61B17/00 ,  A61B2017/00477 ,  A61B2017/2943 ,  A61B2034/302 ,  A61B2090/031

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

公开(公告)号：US11701165B2

公开(公告)日：2023-07-18

申请号：US16616711

申请日：2018-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Duane W. Marion ,  Thomas G. Cooper ,  Eric J. Earnst ,  Jason W. Hemphill ,  Alan E. Loh

IPC: A61B18/12 ,  A61B18/16 ,  A61B18/00

CPC classification number: A61B18/1233 ,  A61B18/16 ,  A61B2018/00077 ,  A61B2018/00083 ,  A61B2018/00845 ,  A61B2018/00869 ,  A61B2018/00875 ,  A61B2018/00892 ,  A61B2018/00904 ,  A61B2018/1286 ,  A61B2018/167

Abstract: An apparatus is provided to detect electrical contact between anatomical tissue and a shield conductor: a transformer; an alternating current (AC) reference frequency signal generator to inject a reference frequency signal to a primary winding of the transformer; a reactive impedance coupled in parallel with a secondary winding of the transformer between a first node and a second node; and a phase match detector circuit to detect a phase match between the reference frequency signal and a reflected reference frequency signal that is reflected from the secondary winding to the primary winding.

公开(公告)号：US11666204B2

公开(公告)日：2023-06-06

申请号：US16518846

申请日：2019-07-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B34/37 ,  A61B1/00 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

CPC classification number: A61B1/00087 ,  A61B1/002 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  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 ,  A61B90/361 ,  A61B2017/0034 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

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.

公开(公告)号：US11490978B2

公开(公告)日：2022-11-08

申请号：US16317268

申请日：2017-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jordan M. Klein ,  William J. Park ,  Thomas G. Cooper ,  Thad Lieb

IPC: A61B34/35 ,  A61B34/00 ,  A61B18/14 ,  A61B34/30 ,  A61B17/00

Abstract: A surgical instrument component for coupling an end effector to a shaft of a surgical instrument may comprise a distal portion made of an electrically conductive first material, a proximal portion made of an electrically conductive second material, and an intermediate portion made of an electrically insulating third material. The intermediate portion is disposed between and integrally connected to the proximal portion and to the distal portion.

公开(公告)号：US11376086B2

公开(公告)日：2022-07-05

申请号：US16565113

申请日：2019-09-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Craig R. Ramstad

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  A61B50/00 ,  A61B90/50 ,  G03B5/02

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US20220175476A1

公开(公告)日：2022-06-09

申请号：US17678894

申请日：2022-02-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

IPC: A61B34/30 ,  F16M11/20 ,  A61B34/37

Abstract: A robotic surgery system includes an orienting platform, a first manipulator, a second manipulator supported by the orienting platform, and a first set-up linkage by which the first manipulator is coupled to and supported by the orienting platform. The first manipulator includes a first instrument holder configured to support a first surgical instrument. The first manipulator is operable to insert and manipulate the first surgical instrument. The second manipulator includes a second instrument holder configured to support a second surgical instrument. The second manipulator is operable to insert and manipulate the second surgical instrument. The first set-up linkage is operable to selectively reposition the first manipulator relative to the orienting platform.

公开(公告)号：US11304769B2

公开(公告)日：2022-04-19

申请号：US16567276

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  A61B1/00 ,  A61B1/005 ,  A61B34/37 ,  A61B34/30 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. 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 guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US11109925B2

公开(公告)日：2021-09-07

申请号：US15118620

申请日：2015-02-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Matthew R. Williams ,  William J. Park

IPC: A61B17/00 ,  A61B34/35 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  B25J9/06 ,  B25J15/04 ,  B25J15/00 ,  B25J15/12 ,  B25J15/10 ,  B25J9/10 ,  A61B18/12

Abstract: An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

公开(公告)号：US11051794B2

公开(公告)日：2021-07-06

申请号：US16162652

申请日：2018-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B17/29 ,  A61B1/005 ,  A61B1/008

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.