公开(公告)号：US20140206936A1

公开(公告)日：2014-07-24

申请号：US14173681

申请日：2014-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  David Q. Lakin ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B1/05

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract translation: 两个手术器械通过导管插入。 手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。 立体图像捕获部件位于导管之间的中间位置和导管的远端之间。 图像捕获部件的视场大致垂直于导管的纵轴。 手术器械和引导管被远程手术控制。

公开(公告)号：US12029512B2

公开(公告)日：2024-07-09

申请号：US16932420

申请日：2020-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David J. Rosa

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B34/25 ,  A61B34/37 ,  A61B34/71 ,  A61B90/03 ,  A61B90/08 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2090/0803

Abstract: A telesurgical system may comprise a teleoperated manipulator and a control system to execute instructions to perform operations. The operations may comprise determining a remaining usable life value of a surgical instrument. The surgical instrument may comprise a distal end component and an actuation component coupled to move the distal end component when driven by the teleoperated manipulator. The operations may also comprise monitoring an amount of use of the actuation component during a use of the surgical instrument. Monitoring the amount of use of the actuation component comprises determining the amount of use of the actuation component based on a force or torque on the actuation component. The operations may also comprise updating the remaining usable life value to an updated usable life value of the surgical instrument based at least on the amount of use of the actuation component during the use of the surgical instrument.

公开(公告)号：US11957304B2

公开(公告)日：2024-04-16

申请号：US18308477

申请日：2023-04-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B90/10 ,  A61B1/00 ,  A61B1/002 ,  A61B1/005 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/00 ,  A61B8/12 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/34 ,  A61B34/20 ,  A61B90/00

CPC classification number: A61B1/00087 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0051 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B1/0055 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B90/361

Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

公开(公告)号：US11666204B2

公开(公告)日：2023-06-06

申请号：US16518846

申请日：2019-07-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B34/37 ,  A61B1/00 ,  A61B34/30 ,  A61B1/005 ,  A61B34/00 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

CPC classification number: A61B1/00087 ,  A61B1/002 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/00149 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B1/0055 ,  A61B90/361 ,  A61B2017/0034 ,  A61B2017/00225 ,  A61B2017/00314 ,  A61B2017/00318 ,  A61B2017/00323 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: A patient-side support system includes a base, a platform movably coupled to the base, manipulator assemblies coupled to the platform, instruments, each of the instruments being coupled to a different one of the manipulator assemblies, each of the instruments including a body and a shaft extending from the body, and a guide tube common to the instruments. A first part of the shaft of each individual one of the instruments extends distally from the guide tube to the body. a second part of the shaft of each individual one of the instruments extends through at least a portion of the guide tube. The first part of the shaft of a first instrument of the instruments is articulatable between the body of the first instrument and the guide tube. The guide tube and the instruments are collectively rotatable about a longitudinal axis of the guide tube.

公开(公告)号：US20220218429A1

公开(公告)日：2022-07-14

申请号：US17712370

申请日：2022-04-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： THOMAS G. COOPER ,  Eugene F. Duval ,  David J. Rosa ,  Matthew R. Williams

IPC: A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

Abstract: A surgical instrument assembly may comprise a guide tube including a distal end and a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. The surgical instrument may also include an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.

公开(公告)号：US11304769B2

公开(公告)日：2022-04-19

申请号：US16567276

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B34/00 ,  A61B1/00 ,  A61B1/005 ,  A61B34/37 ,  A61B34/30 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00 ,  A61B90/00 ,  A61B17/34 ,  A61B34/20

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US20210369377A1

公开(公告)日：2021-12-02

申请号：US16637869

申请日：2018-07-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David J. Rosa

IPC: A61B34/00 ,  A61B34/35

Abstract: A telesurgical system operates in a first operating mode and in a second operating mode. In the first operating mode, a moveable component is driven within a first range of an operating parameter. In the second operating mode, the moveable component is driven with a second range of the operating parameter, less than the first range. Usable instrument life is increased by decreasing mechanical degradation of the moveable component as a result of operating in the second range. A surgeon may select either operating mode.

公开(公告)号：US20210106394A1

公开(公告)日：2021-04-15

申请号：US17130910

申请日：2020-12-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC: A61B34/30 ,  A61B90/10 ,  A61B34/00 ,  A61B34/37

Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

公开(公告)号：US10966742B2

公开(公告)日：2021-04-06

申请号：US16292947

申请日：2019-03-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David J. Rosa ,  Salvatore J. Brogna

IPC: A61B18/00 ,  A61B17/32 ,  A61B18/14 ,  A61B34/30 ,  A61B18/12 ,  A61B34/35 ,  A61B17/00

Abstract: A medical device can include a working end comprising a jaw mechanism configured to perform a clamping function and a translating cutting mechanism configured to perform a cutting function in response to translating movement of the translating cutting mechanism. The medical device can further include at least two user-actuated input mechanisms, and a computer processor operably coupled to the working end and to the at least two user-actuated control input mechanisms. In an operational state, the computer processor commands a movement of the translating cutting mechanism through a first range of motion in response to a first command received from actuation of a first of the at least two user-actuated control input mechanisms, and commands a movement of the translating cutting mechanism through a second range of motion in response to at least a second command received from actuation of at least a second of the at least two user-actuated control input mechanisms, the second range of motion being different from the first range of motion.

公开(公告)号：US10405934B2

公开(公告)日：2019-09-10

申请号：US15431752

申请日：2017-02-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David J. Rosa

IPC: A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30 ,  A61B1/00

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.