公开(公告)号：US20210346108A1

公开(公告)日：2021-11-11

申请号：US17383736

申请日：2021-07-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Eugene F. Duval ,  David J. Rosa ,  Matthew R. Williams

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

Abstract: A surgical assembly may comprise an actuator system including a plurality of wedge-shaped actuator assemblies arranged radially around a longitudinal axis. The surgical assembly may also comprise a first instrument assembly including a first elongate instrument shaft and a first wedge-shaped transmission mechanism coupled at a proximal end of the first elongate instrument shaft. The first wedge-shaped transmission mechanism is configured to engage a first wedge-shaped actuator assembly of the plurality of wedge-shaped actuator assemblies. The first wedge-shaped actuator assembly is movable linearly, relative to the other of the plurality of wedge-shaped actuator assemblies of the plurality of wedge-shaped actuator assemblies, along a path parallel to the longitudinal axis to linearly translate the first instrument assembly.

公开(公告)号：US10799303B2

公开(公告)日：2020-10-13

申请号：US14911529

申请日：2014-08-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

IPC: A61B34/30 ,  A61B17/00

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US10456166B2

公开(公告)日：2019-10-29

申请号：US15360311

申请日：2016-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US10448813B2

公开(公告)日：2019-10-22

申请号：US14943216

申请日：2015-11-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/018 ,  A61B1/002 ,  A61B1/04 ,  A61B1/06 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B17/00 ,  A61B90/10 ,  A61B34/00 ,  A61B34/20 ,  A61B1/005 ,  A61B17/34 ,  A61B90/00

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US20180368663A1

公开(公告)日：2018-12-27

申请号：US16117935

申请日：2018-08-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Eugene F. Duval ,  Theodore W. Rogers

IPC: A61B1/005 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00

Abstract: A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue. The compliance also permits manual positioning or shaping of the device during or before insertion for a surgical procedure without damaging the tendons or connections of the tendons within the device or to a backend mechanism

公开(公告)号：US20180353204A1

公开(公告)日：2018-12-13

申请号：US16050033

申请日：2018-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E, Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Thoeodore W, Rogers

IPC: A61B17/34 ,  F16F1/12 ,  A61B34/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61M13/00 ,  A61B17/02 ,  A61B90/98 ,  A61B50/00

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US09510734B2

公开(公告)日：2016-12-06

申请号：US14173681

申请日：2014-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  David Q. Larkin ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00 ,  A61B1/018 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B1/005 ,  A61B17/34

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract translation: 两个手术器械通过导管插入。 手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。 立体图像捕获部件位于导管之间的中间位置和导管的远端之间。 图像捕获部件的视场大致垂直于导管的纵轴。 手术器械和引导管被远程手术控制。

公开(公告)号：US12274523B2

公开(公告)日：2025-04-15

申请号：US18327238

申请日：2023-06-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Craig R. Ramstad

IPC: A61B34/00 ,  A61B1/00 ,  A61B17/02 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/00 ,  B25J15/00 ,  B25J15/04 ,  B32B3/12 ,  F16F1/12 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  H05K1/18 ,  A61B17/00 ,  A61B17/29 ,  A61B90/50 ,  B25J15/02 ,  G03B5/02

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US20240024054A1

公开(公告)日：2024-01-25

申请号：US18481430

申请日：2023-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/37 ,  A61B34/30 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.

公开(公告)号：US11793587B2

公开(公告)日：2023-10-24

申请号：US18091941

申请日：2022-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

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

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.