公开(公告)号：US20190298462A1

公开(公告)日：2019-10-03

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 ,  A61B34/35 ,  A61B90/00 ,  A61B46/10 ,  A61B46/13

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.

公开(公告)号：US20150313452A1

公开(公告)日：2015-11-05

申请号：US14663854

申请日：2015-03-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. HASSER ,  Nitish SWARUP ,  Thomas G. COOPER ,  S. Christopher ANDERSON

IPC: A61B1/00 ,  A61B1/05 ,  A61B19/00 ,  A61B1/005 ,  A61B1/008

CPC classification number: A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

Abstract translation: 本发明涉及一种具有至少一个自由度的柔性手腕的关节式微创手术内窥镜。 当与具有多个机器人手臂的外科手术机器人一起使用时，内窥镜可以与多个臂中的任一个一起使用，从而允许使用通用臂设计。 根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到与至少一个自由度相关联的手腕运动的柔性手腕，使得用户更直观。 根据本发明的内窥镜通过基于围绕位于柔性的近侧的旋转点旋转的参考框架来获取与至少一个自由度相关联的物体的图像来衰减其背部/近端处的不期望的运动 腕。

公开(公告)号：US20240315792A1

公开(公告)日：2024-09-26

申请号：US18591811

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Ladd T. JOHNSON

IPC: A61B34/00 ,  A61B17/00 ,  A61B17/29 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B34/71 ,  A61B34/00 ,  A61B34/30 ,  A61B2017/00477 ,  A61B17/29 ,  A61B2017/2903 ,  A61B2017/2929 ,  A61B2034/715 ,  A61B2090/371

Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.

公开(公告)号：US20240090972A1

公开(公告)日：2024-03-21

申请号：US18376726

申请日：2023-10-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Thomas G. COOPER

IPC: A61B90/70 ,  A61B34/30 ,  B08B9/032

CPC classification number: A61B90/70 ,  A61B34/30 ,  B08B9/032 ,  A61B2017/2908 ,  A61B2034/302

Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.

公开(公告)号：US20160193012A1

公开(公告)日：2016-07-07

申请号：US14911973

申请日：2014-08-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： S. Christopher ANDERSON ,  Jordan KLEIN ,  William PARK ,  Denise PONGANIS ,  Daniel SARALIEV ,  Philip TRENHOLME

IPC: A61B90/70 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B90/70 ,  A61B34/30 ,  A61B90/361

Abstract: In accordance with at least one exemplary embodiment, a surgical instrument comprises a shaft comprising a distal end a proximal end, a wall extending from the distal end to the proximal end and having an exterior surface and an interior surface. At least a first portion of the shaft may include openings that penetrate the interior and exterior surfaces of the wall and provide flow communication from an exterior of the shaft to an interior of the shaft. At least one transverse cross-sectional plane and at least one longitudinal cross-section plane through the portion of the shaft including openings may each intersect multiple openings that penetrate the interior and exterior surfaces of the wall. The surgical instrument may include a manifold in flow communication with an interior of the shaft. The surgical instrument may include a flexible sleeve located inside the interior of the shaft.

Abstract translation: 根据至少一个示例性实施例，外科器械包括轴，所述轴包括远端近端，从远端延伸到近端并具有外表面和内表面的壁。 轴的至少第一部分可以包括穿透壁的内部和外部表面的开口，并且提供从轴的外部到轴的内部的流动连通。 穿过包括开口的轴的部分的至少一个横截面和至少一个纵向横截面可以各自相交穿过壁的内表面和外表面的多个开口。 外科器械可以包括与轴的内部流动连通的歧管。 外科器械可以包括位于轴内部的柔性套管。

公开(公告)号：US20150313678A1

公开(公告)日：2015-11-05

申请号：US14796525

申请日：2015-07-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William J. PARK ,  S. Christopher ANDERSON ,  Thomas G. COOPER ,  Matthew R. WILLIAMS

IPC: A61B19/00 ,  A61B19/08

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

Abstract: A method using a sheathed surgical apparatus includes equalizing a pressure differential between a surgical insufflation gas pressure and an initial pressure lower than the insufflation gas pressure. The insufflation gas pressure is external to a portion of a surgical apparatus upon which a sheath is disposed, and the initial pressure is within the surgical apparatus. The equalizing of the pressure differential occurs via permeation of insufflation gas through the sheath.

Abstract translation: 使用护套外科手术装置的方法包括平衡手术注射气体压力和低于吹入气体压力的初始压力之间的压力差。 吹入气体压力在外科装置的设置护套的部分的外部，并且初始压力在手术装置内。 通过渗透气体通过护套渗透发生压差的均衡。