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公开(公告)号：US12167943B2
公开(公告)日：2024-12-17
申请号：US18308992
申请日：2023-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Andrew C. Waterbury , Jonathan M. Sorger
Abstract: A method of controlling a medical tool includes determining an insertion path and pose for the tool based on a target and deploying first and second articulated arms of a computer-assisted medical device based on a size and shape of a tool guide. The arms include respective pluralities of moveable links actuated by at least one respective actuator and forming respective kinematic chains extending from a base. The method further includes receiving the tool guide for coupling with the arms using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the kinematic chains, orienting a guide hole of the tool guide to align with the insertion path, positioning the guide hole a desired distance away from the target, receiving the tool in the guide hole, and advancing the tool along the insertion path.
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公开(公告)号：US20230286179A1
公开(公告)日：2023-09-14
申请号：US18318360
申请日：2023-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Grant M. Kadokura , Andrew C. Waterbury
CPC classification number: B25J18/00 , F16H19/005 , F16H2019/008
Abstract: A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to receive the protrusion extending from the shaft. Rotation of the shaft through a midpoint of the range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.
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公开(公告)号：US11432894B2
公开(公告)日：2022-09-06
申请号：US16869421
申请日：2020-05-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Grant M. Kadokura , Andrew C. Waterbury , Manuel Ahumada
Abstract: A surgical instrument is provided that includes an elongated shaft that includes a proximal end and a distal end; a cantilever beam is disposed at the distal end of the shaft; an optical fiber extends within a channel that extends within between proximal and distal portions of the cantilever beam; a first fiber Bragg grating (FBG) is formed in a segment of the optical fiber within the proximal portion of the beam; a second FBG is formed in a segment of the optical fiber within the distal portion of the beam.
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Patent Agency Ranking
公开(公告)号：US11241290B2
公开(公告)日：2022-02-08
申请号：US16462114
申请日：2017-11-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. Waterbury , John Ryan Steger , Zhou Ye
Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.
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公开(公告)号：US12257700B2
公开(公告)日：2025-03-25
申请号：US18318360
申请日：2023-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Grant M. Kadokura , Andrew C. Waterbury
Abstract: A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to receive the protrusion extending from the shaft. Rotation of the shaft through a midpoint of the range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.
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公开(公告)号：US20200214790A1
公开(公告)日：2020-07-09
申请号：US16813120
申请日：2020-03-09
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Andrew C. Waterbury , Jonathan M. Sorger
Abstract: A tool guide may be used with a computer-assisted medical device. The tool guide comprises an elongated body comprising a first end and a second end opposite the first end. The tool guide also comprises a joint attached to the first end of the elongated body and a mounting arm coupled to the elongated body via the joint. The tool guide also comprises a tool sleeve attached to the second end of the elongated body. The mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device, and the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.
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公开(公告)号：US10675107B2
公开(公告)日：2020-06-09
申请号：US16192475
申请日：2018-11-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Grant M. Kadokura , Andrew C. Waterbury , Manuel Ahumada
Abstract: A surgical instrument is provided that includes an elongated shaft that includes a proximal end and a distal end; a cantilever beam is disposed at the distal end of the shaft; an optical fiber extends within a channel that extends within between proximal and distal portions of the cantilever beam; a first fiber Bragg grating (FBG) is formed in a segment of the optical fiber within the proximal portion of the beam; a second FBG is formed in a segment of the optical fiber within the distal portion of the beam.
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公开(公告)号：US20170333155A1
公开(公告)日：2017-11-23
申请号：US15522657
申请日：2015-10-30
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mahdi Azizian , Andrew C. Waterbury , Jonathan M. Sorge
CPC classification number: A61B90/50 , A61B34/20 , A61B34/25 , A61B34/70 , A61B90/11 , B25J9/009 , B25J9/1682
Abstract: A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.
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