公开(公告)号：US20160278871A1

公开(公告)日：2016-09-29

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: A61B34/37 ,  A61B34/00

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。

公开(公告)号：US20150164597A1

公开(公告)日：2015-06-18

申请号：US14555417

申请日：2014-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC: A61B19/00

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 instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

Abstract translation: 提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。 在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力 从另一个执行器输出输入。 仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。

公开(公告)号：US20140326254A1

公开(公告)日：2014-11-06

申请号：US14250705

申请日：2014-04-11

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B19/08 ,  A61B19/00

Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

Abstract translation: 提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。 在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面 机器人手术系统的手术臂。 盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口 在操纵臂的远端处的可旋转元件的口袋。