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公开(公告)号：US12138006B2
公开(公告)日：2024-11-12
申请号：US17942334
申请日：2022-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Craig R. Ramstad , Robert E. Holop
Abstract: A sterile adapter retaining device for mounting a surgical drape to a surgical drape installation aid comprises a body having a central portion and plurality of legs extending radially from the central portion. Each leg of the plurality of legs is configured to receive mounted thereon a respective instrument sterile adapter of a plurality of instrument sterile adapters attached to a surgical drape. The body is configured to fit within an interior volume of a surgical drape installation aid in a state of the plurality of instrument sterile adapters mounted on the plurality of legs.
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公开(公告)号：US11278364B2
公开(公告)日：2022-03-22
申请号：US16568118
申请日：2019-09-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
IPC: A61B34/00 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/34 , A61B46/23 , A61B90/98 , H01F5/02 , H01F5/04 , H01F27/28 , H04N5/225 , H04N5/232 , H05K1/18 , B25J15/04 , A61B17/02 , A61M13/00 , A61B17/00 , A61B90/50 , A61B50/00 , G03B5/02
Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
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公开(公告)号：US11020191B2
公开(公告)日：2021-06-01
申请号：US16317334
申请日：2017-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nicola Diolaiti , Jeffrey D. Brown , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Probal Mitra , Craig R. Ramstad
Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.
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公开(公告)号：US10918449B2
公开(公告)日：2021-02-16
申请号：US15939705
申请日：2018-03-29
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 , Theodore 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.
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公开(公告)号：US10537358B2
公开(公告)日：2020-01-21
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 E. Holop , Craig R. Ramstad
IPC: A61B17/34 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B34/00 , B25J15/04 , A61B46/23 , A61B50/00 , A61B90/98 , A61B17/02 , A61M13/00 , A61B17/00 , A61B90/50
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.
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Patent Agency Ranking
公开(公告)号：US20190314096A1
公开(公告)日：2019-10-17
申请号：US16317334
申请日：2017-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nicola Diolaiti , Jeffrey D. Brown , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Probal Mitra , Craig R. Ramstad
Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.
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公开(公告)号：US20160058512A1
公开(公告)日：2016-03-03
申请号：US14478311
申请日：2014-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： DANIEL H. GOMEZ , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert Elliot Holop , Anthony K. McGrogan , 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: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
Abstract translation: 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。
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公开(公告)号：US12102400B2
公开(公告)日：2024-10-01
申请号：US18450295
申请日：2023-08-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nicola Diolaiti , Jeffrey D. Brown , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Probal Mitra , Craig R. Ramstad
CPC classification number: A61B34/32 , A61B34/37 , A61B34/74 , A61B46/10 , B25J9/0009
Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.
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公开(公告)号：US11766301B2
公开(公告)日：2023-09-26
申请号：US17236868
申请日：2021-04-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nicola Diolaiti , Jeffrey D. Brown , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Probal Mitra , Craig R. Ramstad
CPC classification number: A61B34/32 , A61B34/37 , A61B34/74 , A61B46/10 , B25J9/0009
Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.
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公开(公告)号：US11684439B2
公开(公告)日：2023-06-27
申请号：US16874163
申请日：2020-05-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
IPC: A61B34/00 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/34 , A61B46/23 , A61B50/00 , A61B90/98 , H01F5/02 , H01F5/04 , H01F27/28 , H05K1/18 , B25J15/04 , A61B17/02 , A61M13/00 , A61B1/00 , A61B50/20 , A61B50/30 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/68 , G03B5/02 , H04N5/225 , H04N5/232 , A61B17/00 , A61B90/50
CPC classification number: A61B34/70 , A61B1/00135 , A61B1/00142 , A61B17/0218 , A61B17/3421 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/98 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , H01F5/02 , H01F5/04 , H01F27/2823 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/687 , H05K1/18 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2050/3008 , A61B2090/5025 , G03B5/02 , G03B2205/0015 , G03B2205/0069 , H01F2005/027 , Y10T74/20305
Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
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