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公开(公告)号：US20210401518A1
公开(公告)日：2021-12-30
申请号：US17474419
申请日：2021-09-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. McDowall , Amy Kerdok
Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.
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公开(公告)号：US11207143B2
公开(公告)日：2021-12-28
申请号：US16324037
申请日：2017-09-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. McDowall , Amy Kerdok
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.
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公开(公告)号：US11020192B2
公开(公告)日：2021-06-01
申请号：US16325978
申请日：2017-08-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , Daniel H. Gomez , Amy Kerdok , Ian E. McDowall , John Ryan Steger
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
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公开(公告)号：US20190192245A1
公开(公告)日：2019-06-27
申请号：US16324037
申请日：2017-09-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. McDowall , Amy Kerdok
CPC classification number: A61B34/35 , A61B34/00 , A61B34/37 , A61B2017/00398 , A61B2017/2927 , B25J9/123 , B25J9/1689
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.
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