公开(公告)号：US11890013B2

公开(公告)日：2024-02-06

申请号：US17745757

申请日：2022-05-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William Burbank ,  Matthew A. Wixey ,  Nicholas Ragosta ,  David W. Weir ,  Emily Cooper ,  Melody Wu

IPC: A61B17/072 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00 ,  A61B34/30 ,  A61B34/35

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/0023 ,  A61B2017/00075 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2090/0814

Abstract: Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the stapler cartridge to deploy staples from the stapler cartridge. An actuation mechanism is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the staple cartridge or a portion of the end effector; determine a distance of movement of the pusher member from the first position to the second position; and determine, based on the distance of movement, an operational status of the instrument relating to the stapler cartridge.

公开(公告)号：US20230114904A1

公开(公告)日：2023-04-13

申请号：US17987481

申请日：2022-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicholas H. Ragosta ,  Matthew A. Wixey

IPC: A61B34/00 ,  A61B1/00 ,  F16H55/17 ,  F16H59/02

Abstract: A medical device drive system can include a rotational input, a coupling member engaged with the rotational input, a first gear having an engagement feature sized and shaped to engage with the coupling member, and a second gear coupled with the first gear, the second gear coupled to a movable element. The system can have a first system state and a second system state. In the first system state the coupling member is not engaged with the engagement feature and the first gear rotates without moving the coupling member. In the second system state the coupling member is engaged with the engagement feature of the first gear and rotation of the rotational input turns the coupling member, the first gear, and the second gear to move the movable element.

公开(公告)号：US11234700B2

公开(公告)日：2022-02-01

申请号：US16331672

申请日：2017-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicholas Ragosta ,  Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/29

Abstract: A surgical device includes an elongated shaft, an end effector, and a wrist assembly. The wrist assembly includes a first outer link, a first inner link, and a second outer link. The first outer link is connected to the shaft and includes first gear teeth. The first inner link is pivotally coupled with the first outer link. The second outer link is pivotally coupled with the first inner link. The second outer link includes second gear teeth that interface with the first gear teeth and control orientation of the first inner link relative to the first outer link and the first outer link throughout a range of orientations of the wrist assembly.

公开(公告)号：US11147552B2

公开(公告)日：2021-10-19

申请号：US16339704

申请日：2017-10-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank ,  Matthew A. Wixey ,  Nicholas Ragosta

IPC: A61B17/072 ,  A61B90/00

Abstract: Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the cartridge body. The cartridge body includes a guide track engaged by the knife member and configured so that a cutting blade of the knife member protrudes from the cartridge body during a first portion of a distal movement of the staple pushing shuttle and the cutting blade is retracted into the cartridge body during a second portion of the distal movement of the staple pushing shuttle.

公开(公告)号：US10772630B2

公开(公告)日：2020-09-15

申请号：US15772528

申请日：2016-10-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey

IPC: A61B17/068 ,  A61B17/072 ,  A61B34/37 ,  A61B34/30

Abstract: A drive shuttle is provided that includes a leader ramp mount that includes a longitudinal first axis; a first leader ramp that depends from (i.e. that physically couples to) a first side of the leader ramp mount; a pusher protrusion that depends from a second side of the leader ramp mount; a follower ramp mount; a follower protrusion that depends from the follower ramp mount; a first follower ramp that depends from the follower protrusion; wherein the first leader ramp, the pusher protrusion, the first follower ramp and the follower protrusion are disposed in relation to each another such that, in the first configuration, the pusher protrusion is spaced apart longitudinally from the follower protrusion by an offset amount and the first leader ramp is aligned longitudinally with the first follower ramp; and in the second configuration, the pusher protrusion contacts the follower protrusion and the first leader ramp is spaced apart longitudinally from the first follower ramp by the offset amount.

公开(公告)号：US20190298398A1

公开(公告)日：2019-10-03

申请号：US16366854

申请日：2019-03-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ashley Lynne Wellman ,  David W. Weir ,  Matthew A. Wixey

IPC: A61B17/28 ,  A61B17/22 ,  A61B34/00 ,  A61B34/35

Abstract: Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.

公开(公告)号：US20190239967A1

公开(公告)日：2019-08-08

申请号：US16331663

申请日：2017-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicholas Ragosta ,  Matthew A. Wixey

IPC: A61B34/35 ,  A61B17/072

CPC classification number: A61B34/35 ,  A61B17/07207 ,  A61B2017/00309 ,  A61B2017/00367 ,  A61B2017/00477 ,  A61B2017/00867 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2034/305

Abstract: An end effector that can have an upper jaw and a lower jaw. A wrist can connect the end effector to an elongated shaft. A beam member can be arranged to translate within the upper and lower jaw. An actuation assembly can have a pushing assembly configured to transfer compressive force to the beam member and a pulling assembly configured to transfer tensile force to the beam member.

公开(公告)号：US20190076142A1

公开(公告)日：2019-03-14

申请号：US15772528

申请日：2016-10-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/37

CPC classification number: A61B17/07207 ,  A61B17/068 ,  A61B34/37 ,  A61B2017/07228 ,  A61B2017/07278 ,  A61B2034/302

Abstract: A drive shuttle is provided that includes a leader ramp mount that includes a longitudinal first axis; a first leader ramp that depends from (i.e. that physically couples to) a first side of the leader ramp mount; a pusher protrusion that depends from a second side of the leader ramp mount; a follower ramp mount; a follower protrusion that depends from the follower ramp mount; a first follower ramp that depends from the follower protrusion; wherein the first leader ramp, the pusher protrusion, the first follower ramp and the follower protrusion are disposed in relation to each another such that, in the first configuration, the pusher protrusion is spaced apart longitudinally from the follower protrusion by an offset amount and the first leader ramp is aligned longitudinally with the first follower ramp; and in the second configuration, the pusher protrusion contacts the follower protrusion and the first leader ramp is spaced apart longitudinally from the first follower ramp by the offset amount.

公开(公告)号：US20190038371A1

公开(公告)日：2019-02-07

申请号：US16072356

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew A. Wixey ,  Gabriel F. Brisson ,  William A. Burbank ,  Patrick Flanagan ,  Pushkar Hingwe ,  David W. Weir ,  Donald F. Wilson

IPC: A61B34/00 ,  A61B17/00 ,  A61B34/35 ,  A61B34/10 ,  A61B17/072

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

公开(公告)号：US20180317916A1

公开(公告)日：2018-11-08

申请号：US15773550

申请日：2016-10-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey

IPC: A61B17/072

Abstract: A knife member that can have a blade portion configured operation within a surgical stapling device. A first frame portion can extend from the blade portion to a first connection portion. A second frame portion can extend from the first frame portion to a second connection portion. At least one of the first and second frame portions can include a fused portion. The fused portion can be configured to fail when a predetermined amount of force is applied to the fused portion.