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11.发明申请公开(公告)号：US20160317234A1
公开(公告)日：2016-11-03
申请号：US15147608
申请日：2016-05-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1643 , B25J9/1676 , G05B2219/39091 , G05B2219/39135 , G05B2219/40202 , G05B2219/40362 , G05B2219/40371 , G05B2219/40476 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
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公开(公告)号：US09358074B2
公开(公告)日：2016-06-07
申请号：US13907009
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
CPC classification number: A61B34/30 , A61B34/35 , A61B34/37 , A61B2017/00477 , A61B2034/304 , F16M11/2035
Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.
Abstract translation: 机器人手术系统包括定向平台，可移动地支撑定向平台的支撑连杆，多个手术器械操纵器和多个安装连杆。 每个操纵器包括一个仪器支架，并可操作以使仪器支架围绕一个远程操纵中心（RC）旋转。 操纵器中的至少一个包括重新定向机构，当被致动时，所连接的操纵器通过将相关RC保持在固定位置的运动而移动。
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13.发明授权公开(公告)号：US09295524B2
公开(公告)日：2016-03-29
申请号：US13906888
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477 , A61B2034/305
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。
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公开(公告)号：US20130211423A1
公开(公告)日：2013-08-15
申请号：US13769036
申请日：2013-02-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Stephen J. Blumenkranz , Bruce Michael Schena , Randal Goldberg
IPC: A61B19/00
CPC classification number: A61B17/3423 , A61B17/3462 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/76 , A61B2017/3441 , A61B2090/065
Abstract: Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.
Abstract translation: 公开了套管密封件的实施例。 在一些实施例中，插管密封件可包括与插管接合的基部; 以及与所述基部一体形成的密封部，其与器械轴滑动接合，使得所述密封部和所述器械轴之间插入所述器械轴的插入摩擦力对称并且基本上与回缩摩擦力相等。
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公开(公告)号：US20250041003A1
公开(公告)日：2025-02-06
申请号：US18799779
申请日：2024-08-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC: A61B34/30 , A61B17/00 , A61B17/068 , A61B17/072 , A61B17/115 , A61B17/29 , A61B34/00 , H04W84/12
Abstract: Method of actuating an end effector of a surgical device employ a drive shaft to actuate the end effector. A method of actuating an end effector of a surgical device includes rotating a main shaft relative to the proximal chassis. An end effector base of the end effector is supported by a wrist mechanism coupled between the end effector base and the main shaft. The end effector base is reoriented relative to the main shaft by operating a wrist articulation mechanism. A drive shaft is supported for rotation within a lumen of the main shaft. A feature of the end effector is actuated by rotating an input shaft of the end effector by rotating the drive shaft relative to the main shaft.
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Patent Agency Ranking
公开(公告)号：US12102409B2
公开(公告)日：2024-10-01
申请号：US16840730
申请日：2020-04-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena
IPC: A61B46/10 , A61B1/00 , A61B17/00 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/00 , A61B90/00 , A61B90/98 , A61B18/00 , A61B46/23 , F16H1/20
CPC classification number: A61B46/10 , A61B1/00142 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/40 , A61B90/08 , A61B90/361 , A61B90/98 , A61B2017/00477 , A61B2018/00172 , A61B46/23 , A61B2090/0813 , F16H1/20 , Y10T29/49817 , Y10T403/59
Abstract: An instrument sterile adapter for coupling a surgical instrument and an instrument carriage includes an adapter control surface that extends control features of a control surface of the instrument carriage and receives an instrument control surface of the surgical instrument. A shaft receiving slot is positioned in the adapter control surface to receive an elongate tube of the surgical instrument when the adapter control surface receives the instrument control surface of the surgical instrument. The elongate tube may couple a proximal control mechanism of the surgical instrument to an end effector. The instrument sterile adapter may include a convex curved surface substantially perpendicular to and facing the adapter control surface to receive a corresponding concave curved surface on the instrument control surface. A bullet portion on the convex curved surface may engage a bullet receiving feature in the corresponding concave curved surface on the instrument control surface.
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公开(公告)号：US11717357B2
公开(公告)日：2023-08-08
申请号：US16704067
申请日：2019-12-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Gregory W. Dachs, II , Todd Solomon
CPC classification number: A61B34/30 , A61B34/20 , A61B34/37 , A61B90/98 , A61B2017/00477 , A61B2034/2059
Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
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18.发明授权公开(公告)号：US11446105B2
公开(公告)日：2022-09-20
申请号：US16524832
申请日：2019-07-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Tyler J. Morrissette , Bruce Michael Schena
IPC: A61B46/10 , A61B46/00 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/35 , A61B90/98 , A61B17/00 , A61B46/23 , F16H1/20
Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.
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公开(公告)号：US20220151715A1
公开(公告)日：2022-05-19
申请号：US17591196
申请日：2022-02-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
Abstract: A robotic surgery system includes a mounting base, a column base fixedly coupled with the mounting base, a translatable column member slideably coupled to the column base, an orienting platform coupled with the translatable column member, outer set-up linkages, and outer surgical instrument manipulators. Each of the outer set-up linkages is rotationally coupled to and supported by the orienting platform. Each of the outer set-up linkages includes an extension link, a coupling link, and a first joint that couples the respective coupling link to the respective extension link. Each of the outer surgical instrument manipulators is operable to selectively articulate a respective surgical instrument mounted to the outer surgical instrument manipulator and to insert the surgical instrument along an insertion axis through a remote center of manipulation.
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公开(公告)号：US10912616B2
公开(公告)日：2021-02-09
申请号：US15121374
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir Chaghajerdi , Niels Smaby
Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.
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