公开(公告)号：US11248686B2

公开(公告)日：2022-02-15

申请号：US16780432

申请日：2020-02-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  S. Christopher Anderson

IPC: F16H21/54 ,  A61B1/005 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

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.

公开(公告)号：US11160626B2

公开(公告)日：2021-11-02

申请号：US16577349

申请日：2019-09-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Todd R. Solomon

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00 ,  A61B90/50 ,  A61B90/00

Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.

公开(公告)号：US20210015555A1

公开(公告)日：2021-01-21

申请号：US17062963

申请日：2020-10-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David Q. Larkin ,  Paul E. Lilagan

IPC: A61B34/10 ,  A61B34/35 ,  A61B34/30

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.

公开(公告)号：US10575908B2

公开(公告)日：2020-03-03

申请号：US15156231

申请日：2016-05-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

IPC: A61B34/30 ,  A61B34/37 ,  F16M11/20 ,  A61B34/35 ,  A61B17/00

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

公开(公告)号：US10285764B2

公开(公告)日：2019-05-14

申请号：US15118305

申请日：2015-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

公开(公告)号：US20190046173A1

公开(公告)日：2019-02-14

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

IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B1/008 ,  A61B1/005 ,  A61B17/29

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.

公开(公告)号：US10105128B2

公开(公告)日：2018-10-23

申请号：US15624344

申请日：2017-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

IPC: A61B17/00 ,  A61B19/00 ,  A61B34/00 ,  A61B17/29 ,  A61B34/30 ,  A61B1/005 ,  A61B1/008

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.

公开(公告)号：US10011018B2

公开(公告)日：2018-07-03

申请号：US14824217

申请日：2015-08-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  Kent M. Anderson ,  Jeffrey D. Brown

IPC: B25J15/00 ,  A61B19/00 ,  A61B34/30 ,  A61B90/50

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

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：US09955996B2

公开(公告)日：2018-05-01

申请号：US14555417

申请日：2014-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers

IPC: A61B17/00 ,  A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61B90/50

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: 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：US09918731B2

公开(公告)日：2018-03-20

申请号：US13936077

申请日：2013-07-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel Saraliev ,  Mathew R. Williams ,  William A. McDonald, III

IPC: A61B17/00 ,  A61B17/29 ,  A61B17/3201 ,  A61B34/30

CPC classification number: A61B17/29 ,  A61B17/3201 ,  A61B34/30 ,  A61B2017/2936 ,  A61B2017/2939

Abstract: A surgical end effector includes a clevis and one or more jaws pivotally coupled to the clevis. At least one jaw includes a slot. An axle assembly includes a bearing axle that rotatably supports a bearing, which may be a plain bearing. An actuator coupling is coupled to the bearing axle. The bearing engages the slot such that pushing and pulling on the actuator coupling causes one jaw to close against the other jaw. The bearing axle and the jaws may be made from materials that are prone to galling and the bearing may be made from a material that resists galling. The slot may include a lip that supports the bearings in a spaced apart relationship. The bearing axle may be less than 1.5 millimeters in diameter and each bearing may be less than 3.0 millimeters in diameter.