公开(公告)号：US10918449B2

公开(公告)日：2021-02-16

申请号：US15939705

申请日：2018-03-29

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 ,  A61B50/00 ,  A61B90/98 ,  G03B5/02 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

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：US20200267128A1

公开(公告)日：2020-08-20

申请号：US16788045

申请日：2020-02-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Myriam J. Curet ,  Vincent Duindam ,  Catherine J. Mohr ,  Theodore W. Rogers ,  Katherine D. Stoy

IPC: H04L29/06 ,  H04W4/80 ,  H04W12/06

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

公开(公告)号：US10588703B2

公开(公告)日：2020-03-17

申请号：US15014559

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  G01B11/24 ,  A61B34/00 ,  A61B34/20 ,  G01D5/353

Abstract: A system comprises a first cannula comprising a proximal end and a cannula opening at the proximal end. The system further comprises a teleoperated surgical instrument, and a manually operated surgical instrument configured to be inserted into the cannula opening. The system further comprises a teleoperated manipulator, a controller, and a first position sensor coupled to the teleoperated surgical instrument, the first position sensor configured to provide a first sensor input to the controller. The system further comprises a second position sensor coupled to the manually operated surgical instrument, the second position sensor configured to provide a second sensor input to the controller, the second sensor input comprising an insertion depth of the manually operated surgical instrument into the first cannula. The system further comprises a reference fixture coupled to the first and second position sensors and to the teleoperated manipulator, the reference fixture being movable with the teleoperated manipulator.

公开(公告)号：US20200078109A1

公开(公告)日：2020-03-12

申请号：US16316939

申请日：2017-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrisette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC: A61B34/35

Abstract: A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

公开(公告)号：US20190231458A1

公开(公告)日：2019-08-01

申请号：US16311333

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  David William Bailey ,  Theodore W. Rogers ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/302 ,  A61B2034/305

Abstract: Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.

公开(公告)号：US20190076204A1

公开(公告)日：2019-03-14

申请号：US16126102

申请日：2018-09-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alec Paul Robertson ,  Simon Peter DiMaio ,  Kollin Myles Tierling ,  Theodore W. Rogers

IPC: A61B46/10 ,  A61B34/35 ,  A61B17/29

Abstract: A surgical system drape includes: a sheath having an interior cavity sized to cover a portion of a surgical system manipulator; an adaptor coupled to the sheath and including a manipulator interface and an instrument interface, the manipulator interface configured to couple with a drive interface of the manipulator, the instrument interface being configured to couple with a drive interface of a surgical instrument mounted to the manipulator; and a fluid conduit coupled to the sheath and extending within the interior cavity of the sheath, the fluid conduit configured to receive a flow of cooling fluid at a fluid port and convey the fluid along the interior cavity of the sheath to cool a component of a portion of the manipulator.

公开(公告)号：US20170354318A1

公开(公告)日：2017-12-14

申请号：US15660673

申请日：2017-07-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers ,  David Q. Larkin

IPC: A61B1/00 ,  A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/005 ,  A61B17/00 ,  A61B1/018 ,  A61B17/29 ,  A61B17/34 ,  A61B34/20

CPC classification number: A61B1/0051 ,  A61B1/00039 ,  A61B1/00087 ,  A61B1/00128 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00193 ,  A61B1/005 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/01 ,  A61B1/018 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00327 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/347 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306

Abstract: An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.

公开(公告)号：US20160058512A1

公开(公告)日：2016-03-03

申请号：US14478311

申请日：2014-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： DANIEL H. GOMEZ ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert Elliot Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC: A61B19/00

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

Abstract translation: 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。

公开(公告)号：US09254178B2

公开(公告)日：2016-02-09

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 ,  A61B1/00 ,  A61B17/34 ,  A61B17/00 ,  A61B17/29 ,  A61B19/02

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.

公开(公告)号：US20150192743A1

公开(公告)日：2015-07-09

申请号：US14665681

申请日：2015-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  Giuseppe Maria Prisco

IPC: G02B6/38

CPC classification number: G02B6/38 ,  A61B34/30 ,  A61B2034/2061 ,  B33Y80/00 ,  G01B11/165 ,  G01D5/35303 ,  G01D5/35316 ,  G01D5/35377 ,  G01D11/245 ,  G01M11/083 ,  G02B6/022 ,  G02B6/3616 ,  G02B6/3644 ,  G02B6/3887 ,  Y10T29/49826 ,  Y10T29/49838 ,  Y10T29/49947

Abstract: Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect, the fiber is positioned within a shape memory alloy tube that extends from the link.

Abstract translation: 局部应变在形状感测光纤中被有效地消除，其中纤维离开运动链中的连杆。 在一个方面，纤维被定位在链节的纤维固定部分内的通道中，并且通道的唇缘的表面是弯曲的。 唇缘的弯曲表面开始与通道的壁相切，并且具有小于在形状感测期间纤维将经历的最小弯曲半径的最大曲率半径。 在另一方面，纤维位于从连杆延伸的形状记忆合金管内。