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    Multi-port surgical robotic system architecture
    142.
    发明授权
    Multi-port surgical robotic system architecture 有权
    多端口手术机器人系统架构

    公开(公告)号：US09358074B2

    公开(公告)日：2016-06-07

    申请号：US13907009

    申请日：2013-05-31

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: A61B19/00 ,  F16M11/20 ,  A61B17/00

    CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/304 ,  F16M11/2035

    Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

    Abstract translation: 机器人手术系统包括定向平台，可移动地支撑定向平台的支撑连杆，多个手术器械操纵器和多个安装连杆。 每个操纵器包括一个仪器支架，并可操作以使仪器支架围绕一个远程操纵中心（RC）旋转。 操纵器中的至少一个包括重新定向机构，当被致动时，所连接的操纵器通过将相关RC保持在固定位置的运动而移动。

    Cable Tensioning In A Robotic Surgical System
    143.
    发明申请
    Cable Tensioning In A Robotic Surgical System 审中-公开
    机器人手术系统中的电缆拉伸

    公开(公告)号：US20150238267A1

    公开(公告)日：2015-08-27

    申请号：US14708797

    申请日：2015-05-11

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Roman L. Devengenzo ,  Todd R. Solomon ,  Thomas G. Cooper

    IPC: A61B19/00 ,  A61B1/00 ,  B25J9/10

    CPC classification number: A61B34/71 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00212 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2046/234 ,  B25J9/1045 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G16H40/63 ,  Y10T74/20305

    Abstract: An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.

    Abstract translation: 提供了一种用于设置，维持和调整远程外科手术系统中的电缆张力的装置，系统和方法。 在一个示例中，电缆张紧装置包括臂，可旋转地联接到臂的滑轮和可操作地联接到臂的基座，所述基座包括用于改变皮带轮的位置以控制电缆的张力的平移机构 可沿滑轮移动。 在一个示例中，终端块包括包括两个电缆路径的块，每个电缆路径具有用于球配件的保持装置，以及用于沿着两个电缆路径移动电缆的支撑件，电缆包括在每个电缆路径中的球配件 电缆路径。

    SHEATH FOR SURGICAL INSTRUMENT
    144.
    发明申请
    SHEATH FOR SURGICAL INSTRUMENT 有权
    外科手术器械

    公开(公告)号：US20130123805A1

    公开(公告)日：2013-05-16

    申请号：US13739583

    申请日：2013-01-11

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： William John PARK ,  S. Christopher Anderson ,  Thomas G. Cooper ,  Matthew R. Williams

    IPC: A61B19/00

    CPC classification number: A61B19/20 ,  A61B18/1445 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  A61B46/13 ,  A61B90/04 ,  A61B2018/00083 ,  A61B2090/0813

    Abstract: A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an initial pressure lower than the insufflation gas pressure.

    Abstract translation: 手术装置包括具有近端和远端的轴，连接到轴的远端的端部执行器和设置在仪器轴的外表面上的护套。 护套包括可渗透气体的材料，以便在将鞘和轴插入手术注入气体压力的环境中之后允许压差平衡。 压力差在吹入气体压力和低于吹入气体压力的初始压力之间。

    Preloaded surgical instrument interface
    145.
    发明授权
    Preloaded surgical instrument interface 有权

    公开(公告)号：US12220190B2

    公开(公告)日：2025-02-11

    申请号：US18243311

    申请日：2023-09-07

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

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

    Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

    Instrument flushing system
    150.
    发明授权
    Instrument flushing system 有权

    公开(公告)号：US11517397B2

    公开(公告)日：2022-12-06

    申请号：US17306498

    申请日：2021-05-03

    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.

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