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    Systems and methods for instrument engagement
    21.
    发明授权
    Systems and methods for instrument engagement 有权

    公开(公告)号：US10912544B2

    公开(公告)日：2021-02-09

    申请号：US15735082

    申请日：2016-06-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Gabriel F. Brisson ,  Gregory W. Dachs, II ,  Niels Smaby ,  Melody Wu

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

    Abstract: A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.

    CLAMPING INSTRUMENT
    22.
    发明申请
    CLAMPING INSTRUMENT 审中-公开

    公开(公告)号：US20190261988A1

    公开(公告)日：2019-08-29

    申请号：US16412018

    申请日：2019-05-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

    IPC: A61B17/072 ,  A61B90/00 ,  A61B90/90 ,  A61B90/92 ,  A61B90/98 ,  A61B17/068 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33

    Abstract: Systems include an end effector having a first jaw and a second jaw, a motor system configured to actuate the end effector, and a processor. The processor is configured to determine a maximum tip deflection for the end effector, determine a torque limit based on the maximum tip deflection, and operate, subject to the torque limit, the end effector using the motor system. In some embodiments, the maximum tip deflection is determined based a type of staple cartridge being used by the end effector. In some embodiments, the type of staple cartridge identifies a length of staples fired by the end effector. In some embodiments, the firing of the staples is stalled when an applied torque exceeds the torque limit. In some embodiments, the processor is further configured to fire staples subject to the torque limit.

    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES
    24.
    发明申请
    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES 审中-公开

    公开(公告)号：US20180161052A1

    公开(公告)日：2018-06-14

    申请号：US15573031

    申请日：2016-05-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Julie L. Berry ,  Melissa D. Lippiatt ,  Daniel P. Saraliev ,  Melody Wu

    IPC: A61B17/285 ,  A61B17/32 ,  A61B18/14

    Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.

    Control Input Accuracy For Teleoperated Surgical Instrument
    25.
    发明申请
    Control Input Accuracy For Teleoperated Surgical Instrument 审中-公开

    公开(公告)号：US20170095302A1

    公开(公告)日：2017-04-06

    申请号：US15128234

    申请日：2015-03-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Gabriel F. Brisson ,  Niels Samby ,  Melody Wu

    IPC: A61B34/37

    CPC classification number: A61B34/37 ,  A61B2090/031

    Abstract: A surgical system having a patient side cart having at least one telesurgically operated instrument, the at least one telesurgically operated instrument comprising a surgical end effector having a plurality of effector components. A transmission is coupled to a motor. The drive train includes at least a first effector drive train and a second effector drivetrain. A controller comprises at least one processor for controlling the transmission. The controller is performs a method by locking an output gear of the second effector drivetrain rotating a camshaft to shift coupling of the motor from the first effector drivetrain to the second effector drivetrain; determining that the output gear is aligned by driving the locked output gear using a first torque; determining that the output gear is properly braked by driving the locked output gear using a second torque; disengaging the lock from the output gear; and driving the second effector drivetrain using the motor.

    Surgical instrument motor pack latch
    26.
    发明授权
    Surgical instrument motor pack latch 有权
    手术器械电机组锁

    公开(公告)号：US08912746B2

    公开(公告)日：2014-12-16

    申请号：US13662390

    申请日：2012-10-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Robert Cyrus Reid ,  John W. Zabinski ,  Alan Eton Loh ,  Bruce M. Schena ,  David W. Weir ,  Gregory W. Dachs, II ,  David W. Bailey ,  Melody Wu

    IPC: B25J9/18 ,  A61B19/00 ,  A61B17/29 ,  A61B17/00

    CPC classification number: A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/302 ,  Y10T403/60

    Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

    Abstract translation: 闩锁机构选择性地将第一组件保持在第二组件上。 第一和第二组件被构造成沿着接合轴线滑动接合。 闩锁机构包括安装到第一组件以围绕闩锁轴线旋转的闩锁轴，相对于第一组件偏压闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动锁定。 横向闩锁构件与闩锁轴相互作用以响应于第一组件朝向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致闩锁轴与第一方向相反的旋转成保持横向闩锁构件的保持构造。

    Surgical Instrument Motor Pack Latch
    27.
    发明申请
    Surgical Instrument Motor Pack Latch 有权
    手术器械电机包锁

    公开(公告)号：US20130110129A1

    公开(公告)日：2013-05-02

    申请号：US13662390

    申请日：2012-10-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Robert Cyrus Reid ,  John W. Zabinski ,  Alan Eton Loh ,  Bruce M. Schena ,  David W. Weir ,  Gregory W. Dachs, II ,  David W. Bailey ,  Melody Wu

    IPC: A61B19/00 ,  F16B21/00

    CPC classification number: A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/302 ,  Y10T403/60

    Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

    Abstract translation: 闩锁机构选择性地将第一组件保持在第二组件上。 第一和第二组件被构造成沿着接合轴线滑动接合。 闩锁机构包括安装到第一组件以围绕闩锁轴线旋转的闩锁轴，相对于第一组件偏压闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动锁定。 横向闩锁构件与闩锁轴相互作用以响应于第一组件朝向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致闩锁轴与第一方向相反的旋转成保持横向闩锁构件的保持构造。

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