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    Mounting teleoperated surgical arms
    111.
    发明授权
    Mounting teleoperated surgical arms 有权

    公开(公告)号：US11013574B1

    公开(公告)日：2021-05-25

    申请号：US16408077

    申请日：2019-05-09

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Daniel H. Gomez ,  John Ryan Steger

    IPC: A61B17/02 ,  A61B90/50 ,  A61B34/35 ,  A61B17/00 ,  A61B46/10 ,  A61B50/10 ,  A61G13/02 ,  A61G13/10 ,  A61B90/57

    Abstract: A medical device system includes: a surgical arm mounting device including a coupler and a surgical arm interface, the coupler including a clamp for a first side rail of an operating table; and a support member including a brace, the brace extending from the coupler at least part way across the width of an operating table. The clamp has a first mechanical state in which the mounting device is fixed to the side rail, a second mechanical state in which the mounting device is translatable along the side rail, and a third mechanical state in which the mounting device is removable from the side rail. The surgical arm interface is configured to receive a mating mounting device interface of a surgical arm.

    COMPUTER-ASSISTED TELEOPERATED SURGERY SYSTEMS AND METHODS
    114.
    发明申请
    COMPUTER-ASSISTED TELEOPERATED SURGERY SYSTEMS AND METHODS 审中-公开

    公开(公告)号：US20190223967A1

    公开(公告)日：2019-07-25

    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

    IPC: A61B34/35 ,  A61B90/50

    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.

    Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator
    117.
    发明授权
    Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator 有权

    公开(公告)号：US10143525B2

    公开(公告)日：2018-12-04

    申请号：US15058914

    申请日：2016-03-02

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

    IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00

    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.

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