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公开(公告)号：USD745965S1
公开(公告)日：2015-12-22
申请号：US29464369
申请日：2013-08-15
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Designer： S. Christopher Anderson
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公开(公告)号：US09089351B2
公开(公告)日：2015-07-28
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
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。
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公开(公告)号：US20150051619A1
公开(公告)日：2015-02-19
申请号：US14461322
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2034/304 , A61B2034/306
Abstract: A force transmission transmits a force received by two rotational inputs to an output gimbal plate. Two capstans receive the rotational input. The capstans drive cables connected to three levers. A cable is connected directly from each of the capstans to one of two levers. Another cable is connected to both capstans and passes over a pulley rotatably coupled to the third lever. Each of three linkages has a first end coupled to one of the three levers and a second end coupled to the output gimbal plate. Rotation of each of the first and the second input capstans causes the three cables to move the three levers such that there is no net movement of the three seconds ends of the linkages with respect to the center of motion of the output gimbal plate. The output gimbal plate may orient a mechanically actuated surgical tool.
Abstract translation: 力传递将由两个旋转输入接收的力传递到输出万向板。 两个绞盘接受旋转输入。 绞盘驱动连接到三个杠杆的电缆。 电缆直接从每个绞盘连接到两个杠杆中的一个。 另一个电缆连接到两个绞盘并通过可旋转地联接到第三杠杆的皮带轮上。 三个连杆中的每一个具有联接到三个杠杆中的一个的第一端和联接到输出万向板的第二端。 第一和第二输入绞盘中的每一个的旋转导致三根电缆移动三个杠杆，使得连杆的三秒端部相对于输出万向板的运动中心没有净运动。 输出万向板可以定向机械致动的外科手术工具。
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公开(公告)号：US20150047454A1
公开(公告)日：2015-02-19
申请号：US14461320
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
Abstract translation: 力传递将由三个杠杆接收的力传递到具有三个支撑点的输入万向板。 输入的万向节游戏又可以将力传递到联接到外科手术工具的手腕组件。 第一个万向节支撑点由具有一个旋转自由度的支点的第一杠杆支撑。 第二和第三万向支撑点可以由具有两个旋转自由度的支点的第二和第三杠杆支撑。 这些支点可以包括联接到杠杆的第一轴和支撑第一轴并提供支撑杆的支点的第二轴。 弹簧可以将第二和第三杠杆相互拉近。 力传递可以包括平行四边形连杆，其包括枢转地联接到第一杠杆并具有支撑第一万向架支撑点的平坦表面的摇臂连杆。
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公开(公告)号：US20130331858A1
公开(公告)日：2013-12-12
申请号：US13960644
申请日：2013-08-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Roman L. Devengenzo , Thomas G. Cooper , Joseph P. Orban, III , Bruce Michael Schena , Alan E. Loh , S. Christopher Anderson
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B90/00 , Y10S901/27 , Y10S901/41
Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.
Abstract translation: 提供了机器人操纵器的仪器界面和包括仪器界面的手术系统。 在一个实施例中，仪器接口包括用于向能够可操作地连接仪器的无菌适配器提供轴向负载和扭矩的弹簧加载输入。 在另一个实施例中，机器人手术操纵器系统包括操纵器组件，其包括可操作地联接到操纵臂的远端的基部连杆和沿着纵向轴线可移动地联接到基部连杆的滑架连杆，所述滑架连杆包括集成 仪器界面。 该系统还包括经由仪器接口可操作地耦合到滑架连杆的仪器，以及可操作地耦合到操纵器组件的用于感测仪器存在的处理器。
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Patent Agency Ranking
公开(公告)号：US12239497B2
公开(公告)日：2025-03-04
申请号：US18376726
申请日：2023-10-04
Applicant: Intuitive Surgical Operations, Inc.
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.
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公开(公告)号：US12076038B2
公开(公告)日：2024-09-03
申请号：US17190899
申请日：2021-03-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
Abstract: A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.
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公开(公告)号：US11969889B2
公开(公告)日：2024-04-30
申请号：US18113775
申请日：2023-02-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
CPC classification number: B25J9/1045 , A61B1/0057 , A61B34/71 , B25J9/104 , B25J9/106 , A61B2017/00477 , A61B34/30 , A61B2034/304 , A61B2034/306 , F16H21/54 , Y10T74/18712 , Y10T74/20335
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US20240024069A1
公开(公告)日：2024-01-25
申请号：US18475791
申请日：2023-09-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： S. Christopher Anderson , Jordan Klein , Daniel Saraliev , Philip Trenholme
CPC classification number: A61B90/70 , A61B1/015 , A61M39/1011 , A61M39/1055 , A61B90/361
Abstract: A cleaning device for a surgical instrument can include a body; at least one passage extending through the body from a first open end of the body to a second open end of the body. The first and second open ends and the at least one passage can be dimensioned to receive and guide a shaft of a surgical instrument during a cleaning procedure. At least one aperture in flow communication with a port and the at least one passage can define a cleaning fluid path from the port to the passage.
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公开(公告)号：US11051794B2
公开(公告)日：2021-07-06
申请号：US16162652
申请日：2018-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams
Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.
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