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    Actuated cannula seal
    11.
    发明授权
    Actuated cannula seal 有权
    致动插管密封

    公开(公告)号：US09572626B2

    公开(公告)日：2017-02-21

    申请号：US14181541

    申请日：2014-02-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

    IPC: A61B19/00 ,  A61B17/34

    CPC classification number: A61B34/30 ,  A61B17/0218 ,  A61B17/3462 ,  A61B2034/302 ,  A61M39/0693 ,  A61M2039/0626

    Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

    Abstract translation: 公开了致动套管密封件的实施例。在一些实施例中，插管密封件包括与插管接合的基部; 以及密封部，其与所述基部一体形成，所述密封部能够与器械轴接合，所述密封部能够由致动器致动，使得所述密封部相对于所述器械轴不断地运动。 密封部分的致动可以通过密封部分相对于仪器轴的旋转或振动来实现。

    INTEGRATED FIBER BRAGG GRATING ACCELEROMETER IN A SURGICAL INSTRUMENT
    13.
    发明申请
    INTEGRATED FIBER BRAGG GRATING ACCELEROMETER IN A SURGICAL INSTRUMENT 有权

    公开(公告)号：US20220074966A1

    公开(公告)日：2022-03-10

    申请号：US17448068

    申请日：2021-09-20

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Stephen J. Blumenkranz ,  Lawton N. Verner

    IPC: G01P15/093 ,  G02B6/34

    Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibrotactile haptic feedback output device coupled to a master control arm surgeon grip.

    Integrated Fiber Bragg Grating Accelerometer in a Surgical Instrument
    16.
    发明申请
    Integrated Fiber Bragg Grating Accelerometer in a Surgical Instrument 审中-公开

    公开(公告)号：US20180031600A1

    公开(公告)日：2018-02-01

    申请号：US15727241

    申请日：2017-10-06

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Stephen J. Blumenkranz ,  Lawton N. Verner

    IPC: G01P15/093 ,  G02B6/34 ,  G01L1/22

    CPC classification number: G01P15/093 ,  G01L1/2225 ,  G02B6/34

    Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.

    Integrated fiber bragg grating accelerometer in a surgical instrument
    17.
    发明授权
    Integrated fiber bragg grating accelerometer in a surgical instrument 有权

    公开(公告)号：US09817019B2

    公开(公告)日：2017-11-14

    申请号：US14540313

    申请日：2014-11-13

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Stephen J. Blumenkranz ,  Lawton N. Verner

    IPC: G01P15/093 ,  G02B6/34 ,  G01L1/22

    CPC classification number: G01P15/093 ,  G01L1/2225 ,  G02B6/34

    Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.

    COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS
    18.
    发明申请
    COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS 有权
    针对干预措施的紧急针头操纵器

    公开(公告)号：US20130209208A1

    公开(公告)日：2013-08-15

    申请号：US13767856

    申请日：2013-02-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Bailey ,  Simon P. DiMaio ,  Tao Zhao ,  Lawton N. Verner ,  Alan E. Loh ,  Jonathan Sorger ,  Bruce Michael Schena

    IPC: B25J11/00

    CPC classification number: B25J11/00 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/1425 ,  A61B2034/2059 ,  A61B2090/3954 ,  A61B2090/3983 ,  A61B2090/506 ,  B25J5/02 ,  B25J9/1065

    Abstract: Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

    Abstract translation: 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。

    System and method for repositioning input control devices
    20.
    发明授权
    System and method for repositioning input control devices 有权

    公开(公告)号：US12102406B2

    公开(公告)日：2024-10-01

    申请号：US16758832

    申请日：2018-10-22

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Lawton N. Verner

    IPC: A61B34/00 ,  A61B90/00 ,  G16H40/63

    CPC classification number: A61B34/74 ,  A61B90/06 ,  G16H40/63 ,  A61B2090/061 ,  A61B2090/065

    Abstract: A system and method of repositioning input control devices includes an operator workstation for controlling a computer-assisted device includes an input control device for use by an operator, one or more sensors, and a controller coupled to the one or more sensors and the input control device. The controller is configured to determine whether the operator is interacting with the input control device using the one or more sensors and in response to determining a lack of operator interaction with the input control device, determine a trajectory for moving the input control device from a current position or orientation toward a desired position or orientation, and move the input control device along the trajectory. In some embodiments, the controller is further configured to stop movement of the input control device along the trajectory in response to detecting a stopping condition.

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