公开(公告)号：US10779896B2

公开(公告)日：2020-09-22

申请号：US15677782

申请日：2017-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

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

Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.

公开(公告)号：US20200069389A1

公开(公告)日：2020-03-05

申请号：US16676100

申请日：2019-11-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tyler J. Morrissette ,  Gregory W. Dachs, II ,  Bruce Michael Schena

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/23 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B17/00

Abstract: An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators and may be shaped to provide a loose form fit around the carriage. A stiffener is coupled to the pouch around a second opening in the pouch to provide an area that is less elastic than the remainder of the pouch. An instrument sterile adapter (ISA) may be coupled to the second opening in the pouch. The ISA may include a bottom plate and a top plate located on opposite sides of the pouch and joined together. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.

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：US10420622B2

公开(公告)日：2019-09-24

申请号：US15121351

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

IPC: A61B17/00 ,  A61B34/30 ,  A61B46/00 ,  A61B90/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B90/98 ,  F16H1/20

Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

公开(公告)号：US10390894B2

公开(公告)日：2019-08-27

申请号：US15139224

申请日：2016-08-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger

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

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

公开(公告)号：US20170367775A1

公开(公告)日：2017-12-28

申请号：US15677782

申请日：2017-08-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

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

Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.

公开(公告)号：US09675422B2

公开(公告)日：2017-06-13

申请号：US15147608

申请日：2016-05-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/37

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

公开(公告)号：US20160367328A1

公开(公告)日：2016-12-22

申请号：US15121731

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II ,  Tyler J. Morrissette ,  Bruce Michael Schena

IPC: A61B46/10 ,  A61B46/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35

CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/23 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.

Abstract translation: 仪器无菌悬垂包括塑料片和耦合到塑料片的仪器无菌适配器（ISA）。 ISA包括位于塑料板的相对侧上并连接在一起的底板和顶板。 底板中的通道允许仪器托架通量连接通过塑料片和底板以与顶板相邻。 顶板包括将与仪器托架的通量连接的上表面相邻的信号传输区域。 磁通连接器可以封闭顶板的信号传输区域中的开口，并提供用于电信号或光信号的路径。 顶板的信号传输区域可以变薄以允许RFID传感器更靠近附接到仪器无菌适配器的外科器械中的RFID装置。

公开(公告)号：US20160361129A1

公开(公告)日：2016-12-15

申请号：US15121354

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tyler J. Morrissette ,  Gregory W. Dachs, II ,  Bruce Michael Schena

IPC: A61B46/10 ,  A61B46/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00

Abstract: An instrument sterile drape includes a plastic sheet and a pouch sealed to a first opening in the plastic sheet. The pouch is shaped to fit around a carriage that includes actuators. An instrument sterile adapter (ISA) is coupled to a second opening in the pouch. The ISA includes a bottom plate and a top plate located on opposite sides of the pouch and joined together. A stiffener may be coupled to the pouch around the second opening to provide a relatively inelastic area that corresponds to a portion of the pouch that is retained between the bottom plate and the top plate. Portions of the bottom plate may project through the top plate to provide a datum plane to receive a surgical instrument. The ISA may contain loose pins that depress sensing pins in the carriage when a surgical instrument is mounted.

Abstract translation: 仪器无菌悬垂包括塑料片和密封到塑料片中的第一开口的袋。 该袋被成形为适合包括致动器的托架周围。 仪器无菌适配器（ISA）耦合到袋中的第二开口。 ISA包括底板和位于袋的相对侧上并连接在一起的顶板。 加强件可以围绕第二开口连接到袋，以提供对应于保持在底板和顶板之间的袋的一部分的相对非弹性的区域。 底板的部分可以突出通过顶板，以提供接收外科器械的基准平面。 当安装手术器械时，ISA可能包含松动的销钉，该销钉压住托架中的感应销。

公开(公告)号：US20160331478A1

公开(公告)日：2016-11-17

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 ,  F16M11/20

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.

Abstract translation: 机器人手术系统包括定向平台，可移动地支撑定向平台的支撑连杆，多个手术器械操纵器和多个安装连杆。 每个操纵器包括一个仪器支架，并可操作以使仪器支架围绕一个远程操纵中心（RC）旋转。 操纵器中的至少一个包括重新定向机构，当被致动时，所连接的操纵器通过将相关RC保持在固定位置的运动而移动。