公开(公告)号：US11992286B2

公开(公告)日：2024-05-28

申请号：US16971974

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alain Sadaka

IPC: A61B34/30 ,  A61B17/28 ,  A61B18/00 ,  A61B34/00 ,  B25J15/02 ,  A61B17/29 ,  A61B17/32 ,  A61B34/35

CPC classification number: A61B34/71 ,  B25J15/022 ,  A61B17/29 ,  A61B17/320016 ,  A61B2018/00595 ,  A61B34/35 ,  A61B2034/715

Abstract: A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.

公开(公告)号：US20210386494A1

公开(公告)日：2021-12-16

申请号：US17459120

申请日：2021-08-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

公开(公告)号：US20250049423A1

公开(公告)日：2025-02-13

申请号：US18709392

申请日：2022-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Alain Sadaka ,  Shalv Madhani ,  Hans Valencia

IPC: A61B10/02

Abstract: A biopsy tool includes a flexible cannula having a cutting surface on a distal end portion of the flexible cannula. In some examples, an atraumatic tip on a distal end portion of the flexible stylet extends from the distal end portion of the flexible cannula and at least partially shields the cutting surface of the flexible cannula when the biopsy tool is in a closed configuration.

公开(公告)号：US12089903B2

公开(公告)日：2024-09-17

申请号：US17119630

申请日：2020-12-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alain Sadaka ,  Wingman C. Tse ,  Joseph A. Kemp

IPC: A61B34/30 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B34/20 ,  A61B34/71 ,  A61B2017/00238 ,  A61B2017/00305 ,  A61B2017/00858 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/064

Abstract: Illustrative systems and methods for inserting an elongate flexible instrument into a target environment are described. An illustrative system includes a guide device positioned near an opening to the target environment and having a rotary mechanism and a motor configured to drive the rotary mechanism. The system further includes a sensor system associated with insertion of the elongate flexible instrument along an insertion axis and a processor communicatively coupled to the motor and the sensor system. The processor is configured to receive sensor data from the sensor system, evaluate the sensor data, and control, based on the evaluation, the motor to actuate the elongate flexible instrument along the insertion axis. In some examples, the processor controls the motor to vary a rate of rotation of the rotary mechanism based on a determined system status.

公开(公告)号：US12035992B2

公开(公告)日：2024-07-16

申请号：US16967219

申请日：2019-03-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Andrew Cullen Waterbury ,  John Ryan Steger ,  Alain Sadaka

IPC: A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61B2017/00477 ,  A61B2017/00973 ,  A61B34/37 ,  A61B2034/715 ,  A61B2090/371

Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.

公开(公告)号：US11478317B2

公开(公告)日：2022-10-25

申请号：US17314383

申请日：2021-05-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Edward P. Donlon ,  Craig Tsuji ,  Alain Sadaka

IPC: F16C1/10 ,  A61B17/32 ,  A61B34/00 ,  A61B34/35 ,  A61B18/14 ,  A61B17/00

Abstract: An apparatus includes a housing, a cable guide, a first cable, and a second cable. The housing is coupled to a shaft of a medical instrument. The cable guide is coupled to the housing, and defines a shaft opening into a passageway defined by the shaft. A first guide groove and a second guide groove are defined by the cable guide, with each of the first guide groove and the second guide groove being splayed outward from the shaft opening. The first cable is routed within the first guide groove and through the shaft opening, and is configured to slide within the first guide groove. The second cable is routed within the second guide groove and through the shaft opening, and is configured to slide within the second guide groove.

公开(公告)号：US11439376B2

公开(公告)日：2022-09-13

申请号：US16971982

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep Ratia ,  Alain Sadaka ,  Zhou Ye

IPC: A61B17/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/00

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.