公开(公告)号：US20140094824A1

公开(公告)日：2014-04-03

申请号：US14035014

申请日：2013-09-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Todd R. Solomon

IPC: A61B19/00

CPC classification number: A61B34/71 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/15 ,  Y10T74/20305

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.

Abstract translation: 公开了医疗，手术和/或机器人设备和系统，其通常包括在微创机器人手术期间限制手术器械的位置的偏移远程中心平行四边形操纵器联动组件。 改进的远程中心操纵器联动装置有利地增强了仪器运动的范围，同时降低了机器人手术系统的整体复杂性，大小和体重。

公开(公告)号：US12220190B2

公开(公告)日：2025-02-11

申请号：US18243311

申请日：2023-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

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

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

公开(公告)号：US20220015850A1

公开(公告)日：2022-01-20

申请号：US17491803

申请日：2021-10-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Todd R. Solomon

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37

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：US10856946B2

公开(公告)日：2020-12-08

申请号：US16050033

申请日：2018-07-31

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 ,  Thoeodore 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：US10182876B2

公开(公告)日：2019-01-22

申请号：US15339244

申请日：2016-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Todd R. Solomon ,  Thomas G. Cooper

IPC: A61B34/00 ,  G06F19/00 ,  B25J9/10 ,  A61B34/35 ,  A61B1/00 ,  A61B34/30 ,  A61B34/37 ,  G16H40/63 ,  A61B17/00 ,  A61B46/23 ,  A61B90/00

Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.

公开(公告)号：US10022193B2

公开(公告)日：2018-07-17

申请号：US14911516

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  A61B34/30 ,  A61B17/00

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：US20180014852A1

公开(公告)日：2018-01-18

申请号：US15718963

申请日：2017-09-28

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B17/34 ,  B32B3/12 ,  A61M13/00 ,  A61B17/02 ,  F16F1/12 ,  B25J15/04 ,  A61B17/00

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.

公开(公告)号：US09803727B2

公开(公告)日：2017-10-31

申请号：US13890228

申请日：2013-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Todd R. Solomon ,  Thomas G. Cooper

IPC: A61B34/00 ,  F16H7/20 ,  B25J9/10 ,  B25J18/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

CPC classification number: F16H7/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/361 ,  A61B2017/00845 ,  A61B2034/305 ,  A61B2034/715 ,  B25J9/1045 ,  B25J18/00 ,  B25J18/005 ,  B25J18/007 ,  Y10S901/21 ,  Y10T29/49455 ,  Y10T29/49826 ,  Y10T74/20305 ,  Y10T74/20323

Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.

公开(公告)号：US09801654B2

公开(公告)日：2017-10-31

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 ,  A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  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: 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.

公开(公告)号：US20150164597A1

公开(公告)日：2015-06-18

申请号：US14555417

申请日：2014-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  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: 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.

Abstract translation: 提供了一种仪器操纵器和包括仪器操纵器的机器人手术系统。 在一个实施例中，仪器操纵器包括多个独立的致动器驱动模块，所述多个致动器驱动模块中的每个致动器驱动模块包括致动器输出，其中每个致动器输出被配置为独立地致动外科器械的相应致动器输入而不受力 从另一个执行器输出输入。 仪器操纵器还包括容纳多个独立致动器驱动模块的框架，该框架包括远端，每个致动器输出端从该远端突出以接合外科器械的相应致动器输入。