公开(公告)号：US20190274766A1

公开(公告)日：2019-09-12

申请号：US16426367

申请日：2019-05-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Robert E. HOLOP ,  Thomas G. COOPER

IPC: A61B34/30

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20150057677A1

公开(公告)日：2015-02-26

申请号：US14478349

申请日：2014-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola DIOLAITI ,  David Q. LARKIN ,  Thomas G. COOPER ,  Bruce M. SCHENA

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/361 ,  A61B2034/2046 ,  A61B2034/2048 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2034/2072 ,  A61B2034/305 ,  A61B2090/371 ,  A61B2090/374 ,  A61B2090/376 ,  G05B19/19 ,  G05B2219/45117 ,  Y10S901/30

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.

Abstract translation: 具有非理想的致动器到关节联动特性的医疗机器人系统包括控制系统，其包括具有致动器传感器反馈的近侧控制回路，以控制联接到远端关节的致动器的动态响应，所述远程关节联接到末端 以提供端部执行器的自由度运动，具有远端关节传感器反馈的前端控制回路和前馈到致动器以确保远端关节位置的稳态收敛，以及具有端点传感器的末端执行器控制回路 反馈以控制末端执行器位置以达到指令的末端执行器位置。

公开(公告)号：US20230355328A1

公开(公告)日：2023-11-09

申请号：US18223324

申请日：2023-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B34/30 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B17/00 ,  A61B2090/031

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

公开(公告)号：US20210186544A1

公开(公告)日：2021-06-24

申请号：US17190899

申请日：2021-03-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher ANDERSON ,  Thomas G. COOPER

IPC: A61B17/28 ,  A61B34/00 ,  A61B34/30

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.

公开(公告)号：US20200282570A1

公开(公告)日：2020-09-10

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

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：US20190298323A1

公开(公告)日：2019-10-03

申请号：US16317214

申请日：2017-06-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B17/00 ,  A61B34/30

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

公开(公告)号：US20190231455A1

公开(公告)日：2019-08-01

申请号：US16377988

申请日：2019-04-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. COOPER ,  Anthony K. McGrogan ,  Robert E. HOLOP

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20190231451A1

公开(公告)日：2019-08-01

申请号：US16317211

申请日：2017-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B34/30 ,  F16H55/17

CPC classification number: A61B34/30 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/302 ,  F16H55/17

Abstract: A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.

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。