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    Connector device for a controllable instrument
    13.
    发明授权
    Connector device for a controllable instrument 有权

    公开(公告)号：US10736490B2

    公开(公告)日：2020-08-11

    申请号：US16123309

    申请日：2018-09-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

    IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005 ,  A61B17/00

    Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

    System for controlling an instrument using shape sensors
    14.
    发明授权
    System for controlling an instrument using shape sensors 有权

    公开(公告)号：US10660509B2

    公开(公告)日：2020-05-26

    申请号：US15660828

    申请日：2017-07-26

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Keith P. Laby ,  Robert M. Ohline ,  Christoph M. Pistor ,  Charles E. Swinehart ,  Bruce R. Woodley ,  Amir Belson

    IPC: A61B1/005 ,  A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  A61B34/20

    Abstract: A system for controlling movement of a remotely controlled steerable instrument comprises a flexible instrument. The flexible instrument comprises a steerable distal portion and a passive proximal portion. The steerable distal portion is configured to articulate to change a shape of the steerable distal portion. The system further comprises a shape sensing device comprising an optical fiber that spirals around the steerable distal portion. The optical fiber is configured to provide a signal indicative of the shape of the steerable distal portion. The system further comprises a controller in signal communication with the optical fiber. The controller is logically coupled to the flexible instrument and is configured to output a control signal to articulate the steerable distal portion of the flexible instrument in response to receiving at least the signal from the optical fiber.

    FLUID PRESSURE BASED END EFFECTOR FORCE TRANSDUCER
    16.
    发明申请
    FLUID PRESSURE BASED END EFFECTOR FORCE TRANSDUCER 审中-公开

    公开(公告)号：US20190094084A1

    公开(公告)日：2019-03-28

    申请号：US16143044

    申请日：2018-09-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Charles E. Swinehart ,  John Ryan Steger

    IPC: G01L1/02 ,  A61B34/35 ,  A61B17/29

    Abstract: A surgical instrument is provided that includes an elongated shaft; an end effector located at the distal end of the shaft includes first and second jaws having opposing working faces and a pivot axis; at least one of the first and second jaws is mounted to rotatably pivot about the pivot axis. A fluid filled sac includes a first bladder portion and a second bladder portion and a tube portion extending between the first and second bladder portions; the first bladder portion is located at a working face of the first jaw; a sensor is operatively coupled to the second bladder portion to produce a sensor signal indicative of fluid pressure within the fluid filled sac.

    Curved cannula
    18.
    发明授权
    Curved cannula 有权
    弯曲插管

    公开(公告)号：US08888690B2

    公开(公告)日：2014-11-18

    申请号：US13692339

    申请日：2012-12-03

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Charles E. Swinehart ,  Theodore W. Rogers

    IPC: A61B1/00 ,  A61B17/00 ,  A61B17/34 ,  B21D21/00 ,  A61B19/00 ,  A61B17/29

    CPC classification number: B21D21/00 ,  A61B17/00234 ,  A61B17/3421 ,  A61B2017/2904 ,  A61B2090/062 ,  Y10T29/49

    Abstract: The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion.

    Abstract translation: 弯曲插管的弯曲部分的横截面为椭圆形。 椭圆形被定向为使得椭圆的长轴通常与弯曲部分的弯曲半径对准。 在一个方面，插管管是椭圆形的，使得内部壁的曲率半径在仪器插入期间接近与弯曲部分接触的器械部件的外半径。 在该第一方面，仪器部件和套管之间的更宽的接触面积导致插入期间的摩擦和粘滑。 在另一方面，插管管是椭圆形的，使得内壁的曲率半径小于在仪器插入期间接触弯曲部分的器械部件的外半径。 在该第二方面，在仪器部件和插管之间建立两个接触片，这也在仪器插入期间减少摩擦和粘滑。 还公开了套管取向标记，其沿着弯曲插管的长度改变周向定向，以帮助插入套管的人在插入期间适当地扭转套管。

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