公开(公告)号：US20210145504A1

公开(公告)日：2021-05-20

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

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：US11000345B2

公开(公告)日：2021-05-11

申请号：US16317222

申请日：2017-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  S. Christopher Anderson ,  Thomas G. Cooper

IPC: A61B90/70 ,  B08B9/032 ,  A61B34/30 ,  A61B17/29 ,  A61B17/00

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.

公开(公告)号：US10980556B2

公开(公告)日：2021-04-20

申请号：US16456148

申请日：2019-06-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher Anderson ,  Thomas G. Cooper

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

Abstract: A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.

公开(公告)号：US20210106394A1

公开(公告)日：2021-04-15

申请号：US17130910

申请日：2020-12-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC: A61B34/30 ,  A61B90/10 ,  A61B34/00 ,  A61B34/37

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.

公开(公告)号：US10786318B2

公开(公告)日：2020-09-29

申请号：US15883045

申请日：2018-01-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper

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

Abstract: In one embodiment of the invention, a link of a counter balanced arm is disclosed including, a hollow housing with a cylindrical cavity having an open end and a closed end with a small opening to allow cables to pass through; a first pivotal joint near the closed end of the hollow housing; a second pivotal join near the open end of the hollow housing; a compressible spring assembly received through the open end by the cylindrical cavity of the hollow housing; and a plug coupled to the open end of the cylindrical cavity of the hollow housing.

公开(公告)号：US10695138B2

公开(公告)日：2020-06-30

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：US20200173525A1

公开(公告)日：2020-06-04

申请号：US16780432

申请日：2020-02-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  S. Christopher Anderson

IPC: F16H21/54 ,  A61B34/00 ,  A61B1/005 ,  A61B34/30

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.

公开(公告)号：US10595948B2

公开(公告)日：2020-03-24

申请号：US14722101

申请日：2015-05-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Todd R. Solomon ,  Thomas G. Cooper

IPC: A61B34/37 ,  B25J9/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.

公开(公告)号：US10550918B2

公开(公告)日：2020-02-04

申请号：US14461320

申请日：2014-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  S. Christopher Anderson

IPC: F16H21/54 ,  A61B1/005 ,  A61B34/00

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. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. 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.

公开(公告)号：US20200015919A1

公开(公告)日：2020-01-16

申请号：US16577349

申请日：2019-09-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Todd R. Solomon

IPC: A61B34/00

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.