公开(公告)号：US11241246B2

公开(公告)日：2022-02-08

申请号：US16724261

申请日：2019-12-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper

IPC: A61B17/29 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B18/00

Abstract: A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. A rocking pin in the form of a solid of revolution is pivotally supported by the clevis. The rocking pin may be pivotally supported by the clevis at the midpoint between the first and second ends. The opposite ends of the rocking pin engage the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft to provide an endoscopic instrument. The first and second jaws may be electrically isolated from one another for electrocautery and the rocking pin may be formed from a non-conductive material or electrically isolated from the first and second jaws by electrically non-conductive liners. The jaws may be opened and closed by pushing and pulling on wires coupled to the jaws.

公开(公告)号：US20220015850A1

公开(公告)日：2022-01-20

申请号：US17491803

申请日：2021-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Todd R. Solomon

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

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.

公开(公告)号：US11090124B2

公开(公告)日：2021-08-17

申请号：US16426367

申请日：2019-05-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert E. Holop ,  Thomas G. Cooper

IPC: F16H57/10 ,  A61B34/30 ,  A61B46/10 ,  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：US11033345B2

公开(公告)日：2021-06-15

申请号：US16355517

申请日：2019-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.

公开(公告)号：US10856946B2

公开(公告)日：2020-12-08

申请号：US16050033

申请日：2018-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

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

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

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.

公开(公告)号：US10506920B2

公开(公告)日：2019-12-17

申请号：US15652153

申请日：2017-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. Hasser ,  Nitish Swarup ,  Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B1/018 ,  A61B17/00

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：US10292776B2

公开(公告)日：2019-05-21

申请号：US14796525

申请日：2015-07-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B18/00 ,  A61B34/30 ,  A61B34/35 ,  A61B46/13 ,  A61B90/00 ,  A61B46/10 ,  A61B18/14

Abstract: A method using a sheathed surgical apparatus includes equalizing a pressure differential between a surgical insufflation gas pressure and an initial pressure lower than the insufflation gas pressure. The insufflation gas pressure is external to a portion of a surgical apparatus upon which a sheath is disposed, and the initial pressure is within the surgical apparatus. The equalizing of the pressure differential occurs via permeation of insufflation gas through the sheath.

公开(公告)号：US10271911B2

公开(公告)日：2019-04-30

申请号：US14911514

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K McGrogan ,  Robert E Holop

IPC: A61B34/30 ,  A61B34/00 ,  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：US10182876B2

公开(公告)日：2019-01-22

申请号：US15339244

申请日：2016-10-31

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/00 ,  G06F19/00 ,  B25J9/10 ,  A61B34/35 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  G16H40/63 ,  A61B17/00 ,  A61B46/23 ,  A61B90/00

Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.

公开(公告)号：US20190000494A1

公开(公告)日：2019-01-03

申请号：US16121831

申请日：2018-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher S. Anderson ,  Thomas G. Cooper

IPC: A61B17/28 ,  A61B34/30

CPC classification number: A61B17/28 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00477

Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.