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公开(公告)号：US20230277264A1
公开(公告)日：2023-09-07
申请号：US18171246
申请日：2023-02-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Niels Smaby , Melody Wu
CPC classification number: A61B34/37 , F16D63/006 , A61B17/00 , A61B34/35 , A61B2090/031
Abstract: A method comprises driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states. The camshaft defines a longitudinal axis and rotates about the longitudinal axis. The method further comprises engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft. The method further comprises disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
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公开(公告)号：US20230200792A1
公开(公告)日：2023-06-29
申请号：US18179155
申请日：2023-03-06
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
CPC classification number: A61B17/00 , A61B34/35 , A61B2034/302
Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US20210121164A1
公开(公告)日：2021-04-29
申请号：US17142087
申请日：2021-01-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Gregory W. Dachs, II , Niels Smaby , Melody Wu
Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US10743897B2
公开(公告)日：2020-08-18
申请号：US15573031
申请日：2016-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Weir , Julie L. Berry , Melissa D. Lippiatt , Daniel P. Saraliev , Melody Wu
Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.
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公开(公告)号：US20190222099A1
公开(公告)日：2019-07-18
申请号：US16361095
申请日：2019-03-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David W. Weir , Melody Wu , Kevin Durant , Grant Duque
CPC classification number: H02K11/0094 , A61B18/1445 , A61B34/30 , A61B2017/00725 , A61B2018/1455 , A61B2090/031 , G05B2219/2617 , G05B2219/45117 , G05B2219/45119
Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.
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Patent Agency Ranking
公开(公告)号：US10098705B2
公开(公告)日：2018-10-16
申请号：US15128234
申请日：2015-03-31
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gabriel F. Brisson , Niels Smaby , Melody Wu
Abstract: A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.
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公开(公告)号：US20180161112A1
公开(公告)日：2018-06-14
申请号：US15573096
申请日：2016-05-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David W. Weir , Michael Waldo , Melody Wu
CPC classification number: A61B34/30 , A61B18/1442 , A61B18/1445 , A61B34/00 , A61B2017/003 , A61B2018/1455 , A61B2090/064 , A61B2090/066
Abstract: A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.
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公开(公告)号：US09522003B2
公开(公告)日：2016-12-20
申请号：US14154067
申请日：2014-01-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Weir , Melody Wu , Kevin Durant , Grant Duque
IPC: A61B17/04 , A61B17/10 , A61B17/068 , A61B17/072 , A61B17/00 , A61B17/29 , A61B18/14 , A61B18/00
CPC classification number: A61B17/07207 , A61B17/068 , A61B18/1445 , A61B34/30 , A61B50/13 , A61B50/33 , A61B90/03 , A61B90/90 , A61B90/92 , A61B90/98 , A61B2017/00398 , A61B2017/00725 , A61B2017/07285 , A61B2017/2927 , A61B2018/0063 , A61B2018/00988 , A61B2018/1455 , A61B2090/031 , A61B2090/0803
Abstract: Embodiments of a clamping instrument are disclosed. In some embodiments, a clamping device with calibrated parameters and a calibration process for the clamping device is presented. A method of calibrating a clamping instrument can include acquiring a data set of clamping torque as a function of tip deflection data for the clamping instrument; determining a torque limit from the data set; and storing the torque limit in the clamping instrument.
Abstract translation: 公开了一种夹紧装置的实施例。 在一些实施例中，提出了具有校准参数的夹紧装置和用于夹紧装置的校准过程。 校准夹紧装置的方法可以包括获取作为夹紧装置的尖端偏转数据的函数的夹紧扭矩的数据组; 从数据集确定转矩极限; 并将扭矩极限存储在夹紧装置中。
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公开(公告)号：US12097001B2
公开(公告)日：2024-09-24
申请号：US17236874
申请日：2021-04-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Melody Wu , Samuel Kwok Wai Au
CPC classification number: A61B34/35 , A61B34/20 , A61B34/37 , A61B34/76 , A61B90/00 , A61B90/06 , A61B90/98 , A61B2090/064
Abstract: Techniques for instrument insertion control include a manipulator system. The manipulator system includes a manipulator configured to support an instrument and a control system coupled to the manipulator. The control system is configured to determine an insertion profile associated with at least one of the instrument or a cannula through which the instrument is configured to be inserted and resist or assist a manual insertion of the instrument through the cannula according to the insertion profile, wherein the resisting or assisting causes a velocity of the manual insertion to be uniform in response to a uniform force applied by the manual insertion.
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公开(公告)号：US11185378B2
公开(公告)日：2021-11-30
申请号：US16361095
申请日：2019-03-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Weir , Melody Wu , Kevin Durant , Grant Duque
Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.
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