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    SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY
    172.
    发明申请
    SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY 审中-公开

    公开(公告)号：US20160066773A1

    公开(公告)日：2016-03-10

    申请号：US14943216

    申请日：2015-11-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

    IPC: A61B1/018 ,  A61B1/05 ,  A61B1/00

    Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

    SURGICAL SYSTEM STERILE DRAPE
    175.
    发明申请
    SURGICAL SYSTEM STERILE DRAPE 审中-公开
    外科系统无痛性皮肤病

    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。

    LEVER ACTUATED OUTPUT GIMBALS
    177.
    发明申请
    LEVER ACTUATED OUTPUT GIMBALS 审中-公开
    LEVER致动输出GIMBALS

    公开(公告)号：US20140076077A1

    公开(公告)日：2014-03-20

    申请号：US14083245

    申请日：2013-11-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Thomas G. Cooper ,  Anthony McGrogan ,  Matthew Reagan Williams ,  Eugene F. Duval ,  S. Christoper Anderson

    IPC: B25J13/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  B25J13/00 ,  G05G9/00 ,  Y10T74/18832 ,  Y10T74/18856 ,  Y10T74/20018 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A force transmission transmits a force to a primary output gimbal plate and a secondary output gimbal plate. The secondary output gimbal plate supports the primary output gimbal plate. Each of three primary levers is supported by a primary pivot. Each primary lever is coupled to the primary output gimbal plate such that the three couplings are not collinear. Each of three secondary levers is supported by a secondary pivot. Each secondary lever is coupled to one of the primary levers by a force applying connector. Each secondary lever is coupled to the secondary output gimbal plate such that the three couplings are not collinear. The output gimbal plates may be coupled to the levers by flexible cables. The cables may be substantially contained within a tube. The output gimbal plates may be substantially smaller than the input gimbal plate.

    Abstract translation: 力传递将力传递到主输出万向板和辅助输出万向板。 二次输出万向板支持主输出万向板。 三个主要杠杆中的每一个都由主枢轴支撑。 每个主杆连接到主输出万向板，使得三个联轴器不共线。 三个辅助杠杆中的每一个由辅助枢轴支撑。 每个副杠杆通过施力连接器联接到主杆之一。 每个副杠杆连接到次级输出万向板，使得三个联轴器不共线。 输出万向节板可以通过柔性电缆耦合到杠杆。 电缆可以基本上包含在管内。 输出万向节板可以显着地小于输入的万向板。

    GIMBAL AND LEVERS WITH EQUALIZER
    178.
    发明申请
    GIMBAL AND LEVERS WITH EQUALIZER 审中-公开

    公开(公告)号：US20140076076A1

    公开(公告)日：2014-03-20

    申请号：US14083241

    申请日：2013-11-18

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Thomas G. Cooper ,  Anthony McGrogan ,  Matthew Reagan Williams ,  Eugene F. Duval ,  S. Christoper Anderson

    IPC: A61B19/00

    CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477 ,  B25J13/00 ,  G05G9/00 ,  Y10T74/18832 ,  Y10T74/18856 ,  Y10T74/20018 ,  Y10T74/20323 ,  Y10T74/20329

    Abstract: A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of the lever arm. The gimbal plate may be coupled to the three lever arms by flexible cables or by links that transmit compression forces but not tension forces. The cables may be substantially contained within a tube. The links may be electrically non-conductive. The force transmission may control a surgical end effector in a teleoperated surgical instrument.

    Abstract translation: 力传递包括具有两个自由度的万向板。 三个杠杆臂中的每一个由杠杆臂的两端之间的枢轴支撑。 每个杠杆臂的一端连接到万向板，使得三个联轴器不共线。 均衡器电缆具有两个相对的端部，每个端部固定地联接到杠杆臂中的一个。 均衡器电缆被布置在杠杆臂滑轮上，杠杆臂滑轮枢转地联接到杠杆臂的另一个在杠杆臂的枢轴和一端之间。 万向板可以通过柔性电缆或通过传递压缩力而不是张力的连杆联接到三个杠杆臂。 电缆可以基本上包含在管内。 链路可以是非导电的。 力传递可以控制远程手术器械中的手术末端执行器。

    REMOTELY ACTUATED SURGICAL GRIPPER WITH SEIZE RESISTANCE
    179.
    发明申请
    REMOTELY ACTUATED SURGICAL GRIPPER WITH SEIZE RESISTANCE 有权
    远程启动手术器具耐腐蚀性

    公开(公告)号：US20140012290A1

    公开(公告)日：2014-01-09

    申请号：US13936077

    申请日：2013-07-05

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Thomas G. Cooper ,  Daniel Saraliev ,  Mathew R. Williams ,  William A. McDonald, III

    IPC: A61B19/00

    CPC classification number: A61B17/29 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/2936 ,  A61B2017/2939

    Abstract: A surgical end effector includes a clevis and one or more jaws pivotally coupled to the clevis. At least one jaw includes a slot. An axle assembly includes a bearing axle that rotatably supports a bearing, which may be a plain bearing. An actuator coupling is coupled to the bearing axle. The bearing engages the slot such that pushing and pulling on the actuator coupling causes one jaw to close against the other jaw. The bearing axle and the jaws may be made from materials that are prone to galling and the bearing may be made from a material that resists galling. The slot may include a lip that supports the bearings in a spaced apart relationship. The bearing axle may be less than 1.5 millimeters in diameter and each bearing may be less than 3.0 millimeters in diameter.

    Abstract translation: 手术末端执行器包括U形夹和枢轴连接到U形夹的一个或多个钳口。 至少一个钳口包括槽。 轴组件包括可旋转地支撑轴承的轴承轴，轴承可以是滑动轴承。 致动器联接件联接到轴承轴。 轴承接合槽，使得推动和拉动致动器联接件使一个钳口相对于另一个颚关闭。 轴承轴和夹爪可以由易于磨损的材料制成，并且轴承可以由抗磨损的材料制成。 槽可以包括以间隔开的关系支撑轴承的唇缘。 轴承轴的直径可能小于1.5毫米，每个轴承的直径可能小于3.0毫米。

    Method for robotic arms with strap drive trains
    180.
    发明申请
    Method for robotic arms with strap drive trains 审中-公开
    机械臂与带驱动列车的方法

    公开(公告)号：US20130239392A1

    公开(公告)日：2013-09-19

    申请号：US13890234

    申请日：2013-05-08

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Todd R. Solomon ,  Thomas G. Cooper

    IPC: F16H7/20

    CPC classification number: F16H7/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00845 ,  A61B2034/305 ,  A61B2034/715 ,  B25J9/1045 ,  B25J18/00 ,  B25J18/005 ,  B25J18/007 ,  Y10S901/21 ,  Y10T29/49455 ,  Y10T29/49826 ,  Y10T74/20305 ,  Y10T74/20323

    Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

    Abstract translation: 在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。 连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。 带传动系包括耦合到连杆组件的第一组和第二组皮带。 当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度 链接。

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