公开(公告)号：US20220218429A1

公开(公告)日：2022-07-14

申请号：US17712370

申请日：2022-04-04

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 instrument assembly may comprise a guide tube including a distal end and a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. The surgical instrument may also include an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.

公开(公告)号：US11304769B2

公开(公告)日：2022-04-19

申请号：US16567276

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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：US20220000452A1

公开(公告)日：2022-01-06

申请号：US17305334

申请日：2021-07-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew R. Williams ,  Gregory W. Dachs, II ,  David Shafer

IPC: A61B8/00 ,  A61B18/22 ,  A61B8/12 ,  A61B34/00 ,  A61B90/30 ,  A61B34/30 ,  A61B34/37

Abstract: In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

公开(公告)号：US11109925B2

公开(公告)日：2021-09-07

申请号：US15118620

申请日：2015-02-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Matthew R. Williams ,  William J. Park

IPC: A61B17/00 ,  A61B34/35 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  B25J9/06 ,  B25J15/04 ,  B25J15/00 ,  B25J15/12 ,  B25J15/10 ,  B25J9/10 ,  A61B18/12

Abstract: An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

公开(公告)号：US10524870B2

公开(公告)日：2020-01-07

申请号：US15118814

申请日：2015-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel P. Saraliev ,  Matthew R. Williams

IPC: A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30

Abstract: A surgical instrument may comprise a shaft comprising a wrist at a first end, an end effector coupled to the wrist, and an actuation element that extends along the shaft and the wrist. The actuation element may follow a twisted path along at least a portion of the wrist. The twisted path may have an angular extent of less than 360 degrees along an entire length of the wrist. A method of configuring a surgical instrument wrist is also contemplated, as well as a support structure for an actuation element of a surgical instrument. The support structure may comprise at least one passage defining a twisted path about a longitudinal axis of the support structure. The passage may have an angular extent of less than 360 degrees from a first end of the passage to a second end of the passage.

公开(公告)号：US20170120457A1

公开(公告)日：2017-05-04

申请号：US15119192

申请日：2015-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Daniel P. Saraliev ,  Gabriel F. Brisson ,  Matthew R. Williams

IPC: B25J17/02 ,  A61B34/00 ,  A61B50/13 ,  A61B90/00 ,  A61B34/35 ,  A61B34/37 ,  B25J9/10 ,  A61B34/30

CPC classification number: B25J17/0241 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B50/13 ,  A61B90/361 ,  A61B2017/2908 ,  A61B2034/306 ,  B25J9/104 ,  Y10S901/29

Abstract: A wrist joint, such as for a surgical instrument, may include a first disc, a second disc adjacent the first disc, and a drive tendon that extends through the first disc and the second disc. The first disc and the second disc may include respective opposing joint features that intermesh with one another. The first disc and the second disc may further include opposing load bearing surfaces separate from the joint features. The drive tendon may exert a force on at least one of the first and second discs to cause relative rotation between the first and second discs. The first and second discs may have a maximum rotational range of motion greater than about +/−45 degrees relative to each other.

公开(公告)号：US20130123805A1

公开(公告)日：2013-05-16

申请号：US13739583

申请日：2013-01-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William John PARK ,  S. Christopher Anderson ,  Thomas G. Cooper ,  Matthew R. Williams

IPC: A61B19/00

CPC classification number: A61B19/20 ,  A61B18/1445 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  A61B46/13 ,  A61B90/04 ,  A61B2018/00083 ,  A61B2090/0813

Abstract: A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an initial pressure lower than the insufflation gas pressure.

Abstract translation: 手术装置包括具有近端和远端的轴，连接到轴的远端的端部执行器和设置在仪器轴的外表面上的护套。 护套包括可渗透气体的材料，以便在将鞘和轴插入手术注入气体压力的环境中之后允许压差平衡。 压力差在吹入气体压力和低于吹入气体压力的初始压力之间。

公开(公告)号：US12201264B2

公开(公告)日：2025-01-21

申请号：US17384026

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

Abstract: A surgical instrument assembly comprises a guide tube and a first instrument. The first instrument includes a first elongated shaft and a first proximal arm link coupled by a first shoulder joint, the first proximal arm link and a first distal arm link coupled by a first elbow joint, and the first distal arm link and a first end effector coupled by a first wrist joint. The surgical instrument assembly also comprises a second instrument that includes a second elongated shaft and a second proximal arm link coupled by a second shoulder joint, the second proximal arm link and a second distal arm link coupled by a second elbow joint, and the second distal arm link and a second end effector coupled by a second wrist joint. The surgical instrument assembly also includes an imaging assembly. The first and second end effectors are within the imaging assembly's field of view.

公开(公告)号：US20230117543A1

公开(公告)日：2023-04-20

申请号：US18066146

申请日：2022-12-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A surgical instrument may comprise an elongated shaft extending between a proximal end and a distal end and defining a longitudinal axis. The surgical instrument may also comprise a plurality of cables extending along the longitudinal axis and a first bending section positioned between the proximal end and the distal end of the elongated shaft. The first bending section may comprise links having pairs of articulation holes extending longitudinally through the links to permit the plurality of pull wires to pass therethrough. Each pair of articulation holes may comprise first and second articulation holes that are spaced apart from the longitudinal axis (i) at different radii and (ii) at a same rotation angle.

公开(公告)号：US11304766B2

公开(公告)日：2022-04-19

申请号：US16381323

申请日：2019-04-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William J. Park ,  S. Christopher Anderson ,  Thomas G. Cooper ,  Matthew R. Williams

IPC: A61B34/30 ,  A61B46/13 ,  A61B90/00 ,  A61B46/10 ,  A61B34/35 ,  A61B18/14 ,  A61B18/00

Abstract: A surgical apparatus comprises an instrument shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath has a first section made of ePTFE and a second section made of a second material, wherein the second section provides a friction seal with the shaft, and wherein the ePTFE is gas-permeable.