公开(公告)号：US20230172677A1

公开(公告)日：2023-06-08

申请号：US18160851

申请日：2023-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B2034/301

Abstract: Systems and methods for minimally invasive procedures include a computer-assisted system comprising a manipulator assembly configured to couple to a cannula and a controller coupled to the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. The controller is configured to position a remote center of motion for the manipulator assembly at a first location relative to the cannula, and in response to an indication to reposition the remote center of motion relative to the cannula, reposition the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula. The second location is different from the first location.

公开(公告)号：US20140005687A1

公开(公告)日：2014-01-02

申请号：US14015302

申请日：2013-08-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria PRISCO ,  Craig R. GERBI ,  Theodore W. ROGERS ,  John Ryan STEGER

IPC: A61B19/00

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3474 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B50/13 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3441 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/41

Abstract: A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.

Abstract translation: 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。

公开(公告)号：US20130267964A1

公开(公告)日：2013-10-10

申请号：US13898753

申请日：2013-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. ROGERS ,  John Ryan STEGER ,  Charles E. SWINEHART

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/313 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3462 ,  A61B17/3474 ,  A61B17/3498 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00473 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/0419 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/2948 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61M25/0041 ,  A61M25/0105

Abstract: A cannula mounting fixture may include a base, a first arm with a first cannula mounting bracket and a second arm with a second cannula mounting bracket. The first arm may be coupled to the base so that a first cannula mounted at the first mounting bracket is positioned within an opening in a patient's body. The second arm may be coupled to the base and includes a joint that allows a second cannula mounted at the second mounting bracket to be inserted through the opening. A cannula stabilizing fixture may include a base and a repositionable arm. The base may be configured to be securely and removably coupled to a first cannula that extends into an opening in a patient's body. The repositionable arm may include a first cannula holder coupled to the base and is configured to support a second cannula that extends into the opening.

Abstract translation: 插管安装固定件可以包括基座，具有第一插管安装支架的第一臂和具有第二插管安装支架的第二臂。 第一臂可以联接到基座，使得安装在第一安装支架处的第一插管位于患者体内的开口内。 第二臂可以联接到基座并且包括允许安装在第二安装支架处的第二插管穿过开口插入的接头。 套管稳定夹具可以包括底座和可重新定位的臂。 基部可以构造成可靠地并可移除地联接到延伸到患者体内的开口中的第一插管。 可重定位臂可以包括联接到基座的第一套管保持架，并且构造成支撑延伸到开口中的第二套管。

公开(公告)号：US20130152657A1

公开(公告)日：2013-06-20

申请号：US13692339

申请日：2012-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Charles E. SWINEHART ,  Theodore W. ROGERS

IPC: B21D21/00

CPC classification number: B21D21/00 ,  A61B17/00234 ,  A61B17/3421 ,  A61B2017/2904 ,  A61B2090/062 ,  Y10T29/49

Abstract: The cross section of a curved portion of a curved cannula is oval shaped. The oval is oriented such that a major axis of the oval is generally aligned with the curved portion's bend radius. In one aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall approaches the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this first aspect, a wider contact patch area between the instrument component and the cannula results, which reduces friction and stick-slip during insertion. In another aspect, the cannula tube is ovalized so that the radius of curvature of an interior wall is less than the outer radius of an instrument component that contacts the curved portion during instrument insertion. In this second aspect, two contact patches are established between the instrument component and cannula, which also reduces friction and stick-slip during instrument insertion. Also disclosed is a cannula orientation marking that changes circumferential orientation along a length the curved cannula to help a person who is inserting the cannula to properly twist the cannula during insertion.

Abstract translation: 弯曲插管的弯曲部分的横截面为椭圆形。 椭圆形被定向为使得椭圆的长轴通常与弯曲部分的弯曲半径对准。 在一个方面，插管管是椭圆形的，使得内部壁的曲率半径在仪器插入期间接近与弯曲部分接触的器械部件的外半径。 在该第一方面，仪器部件和套管之间的更宽的接触面积导致插入期间的摩擦和粘滑。 在另一方面，插管管是椭圆形的，使得内壁的曲率半径小于在仪器插入期间接触弯曲部分的器械部件的外半径。 在该第二方面，在仪器部件和插管之间建立两个接触片，这也在仪器插入期间减少摩擦和粘滑。 还公开了套管取向标记，其沿着弯曲插管的长度改变周向定向，以帮助插入套管的人在插入期间适当地扭转套管。

公开(公告)号：US20250049533A1

公开(公告)日：2025-02-13

申请号：US18934060

申请日：2024-10-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. ROGERS

IPC: A61B90/00 ,  A61B5/00 ,  A61B5/026 ,  A61B17/068 ,  A61B17/072 ,  A61B17/29 ,  A61B17/295 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B90/30

Abstract: Techniques for image detection during grasping and stapling include a computer-assisted device comprising an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture one or more images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to determine an orientation of a view of the imaging sensor relative to a workspace, generate orientation hints based on the orientation of the view, and cause display of the one or more orientation hints proximate to a first image of the end effector, on a user interface to provide an indication of the orientation of the end effector within a workspace.

公开(公告)号：US20240189050A1

公开(公告)日：2024-06-13

申请号：US18582518

申请日：2024-02-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Katherine Suzanne ANDERSON ,  Nicholas Leo BERNSTEIN ,  Simon Peter DIMAIO ,  Catherine MOHR ,  Theodore W. ROGERS ,  Kollin Myles TIERLING ,  Andrew Cullen WATERBURY

IPC: A61B34/35 ,  A61B1/00 ,  A61B17/00 ,  A61B17/29 ,  A61B17/34 ,  A61B34/30 ,  A61B90/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B90/03 ,  A61B90/06 ,  B25J9/1697 ,  A61B1/00193 ,  A61B2017/00212 ,  A61B2017/00557 ,  A61B2017/00561 ,  A61B17/29 ,  A61B17/3423 ,  A61B17/3468 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2090/064 ,  A61B2217/005

Abstract: A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.

公开(公告)号：US20230240789A1

公开(公告)日：2023-08-03

申请号：US18296277

申请日：2023-04-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. HAZELTON ,  Ian E. MCDOWALL ,  Theodore W. ROGERS

IPC: A61B90/00 ,  A61B17/072 ,  A61B17/295 ,  A61B34/10

CPC classification number: A61B90/361 ,  A61B17/072 ,  A61B17/295 ,  A61B17/07207 ,  A61B34/10 ,  A61B2090/373 ,  A61B2090/306

Abstract: Systems and methods for image detection during grasping and stapling include an end effector having a first jaw and a second jaw, an imaging sensor mounted to the end effector and configured to capture images of a material graspable by the end effector, and one or more processors coupled to the end effector and the imaging sensor. The one or more processors are configured to receive the images from the imaging sensor, determine one or more properties of the material based on the images, and display the one or more properties of the material on an interface. In some embodiments, the end effector is part of a medical tool and the material is anatomical tissue. In some embodiments, the end effector further includes one or more of a stapling mechanism configured to staple the material or a cutting mechanism configured to cut the material.

公开(公告)号：US20210220066A1

公开(公告)日：2021-07-22

申请号：US17159764

申请日：2021-01-27

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 ,  Theodore W. ROGERS

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

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：US20180206927A1

公开(公告)日：2018-07-26

申请号：US15933901

申请日：2018-03-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria PRISCO ,  Craig R. GERBI ,  Theodore W. ROGERS ,  John Ryan STEGER

IPC: A61B34/00 ,  A61B1/00

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3474 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B50/13 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3441 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/41

Abstract: A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another.

公开(公告)号：US20160193001A1

公开(公告)日：2016-07-07

申请号：US14911977

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peling LEE ,  Theodore W. ROGERS ,  John Ryan STEGER ,  Matthew R. WILLIAMS

IPC: A61B34/00 ,  A61B34/30

CPC classification number: A61B34/71 ,  A61B18/1445 ,  A61B34/30 ,  A61B90/70 ,  A61B2017/00544 ,  A61B2017/2901 ,  A61B2017/2948 ,  A61B2034/302

Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

Abstract translation: 用于外科器械的轴包括具有近端和远端的外管，延伸穿过外管的中心腔和围绕中心腔定位的多个加强杆。 多个加强杆可以包括非导电材料。 轴可以形成电外科器械的一部分。 在另一个实施例中，外科器械可以包括端部执行器和具有外管的轴，所述外管具有近端和远端，驱动杆和围绕驱动杆定位的至少四个加强杆，每个加强杆基本上被定位 紧邻驱动杆。 在末端执行器的致动期间，轴的轴向刚度增加。