公开(公告)号：US11684758B2

公开(公告)日：2023-06-27

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/0052 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/065 ,  A61B10/02 ,  A61B10/04 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61B1/0057 ,  A61B5/062 ,  A61B5/6852 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A robotic system comprises an instrument including proximal distal sections. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to record a position of a working configuration of the distal tip, determine, based on a sensor signal, a movement of the distal tip in response to insertion of a probe into the main lumen, and generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal to return the distal tip towards the working configuration recorded before the movement occurred.

公开(公告)号：US20230084195A1

公开(公告)日：2023-03-16

申请号：US18058012

申请日：2022-11-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B1/00

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.

公开(公告)号：US11547507B2

公开(公告)日：2023-01-10

申请号：US16867393

申请日：2020-05-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B5/00 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B1/00 ,  A61B1/005 ,  A61B10/06 ,  A61B1/05 ,  A61B34/30

Abstract: An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.

公开(公告)号：US10716637B2

公开(公告)日：2020-07-21

申请号：US15031310

申请日：2014-10-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anoop B. Kowshik ,  Carolyn M. Fenech ,  Stephen J. Blumenkranz

IPC: A61B34/35 ,  A61B34/00 ,  A61M25/01 ,  A61B17/00 ,  A61B34/30 ,  A61B34/20

Abstract: An instrument comprises a flexible body comprising a proximal portion, a distal portion, and an inner sheath within the proximal portion. The inner sheath comprises a wall and a plurality of conduits extending through the wall within the proximal portion. A distal end of each conduit terminates proximal to the distal portion. The inner sheath further comprises a plurality of protrusions within the proximal portion. Each protrusion surrounds a portion of a corresponding conduit. The flexible body further comprises a steerable tube extending within the distal portion. The steerable tube comprises a wall and a plurality of grooves in the wall. The instrument further comprises a plurality of tendons extending from the proximal portion, beyond the distal ends of the plurality of conduits, and into the distal portion. In the proximal portion, each tendon extends through a corresponding conduit. In the distal portion, each tendon extends within a corresponding groove.

公开(公告)号：US10682192B2

公开(公告)日：2020-06-16

申请号：US15717089

申请日：2017-09-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B5/00 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B1/00 ,  A61B1/005 ,  A61B10/06 ,  A61B1/05 ,  A61B34/30

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a variable-length support assembly adapted to maintain a length of the elongated flexible instrument in a fixed configuration relative to the variable-length support assembly as the variable-length support assembly is moved along a longitudinal axis. The variable-length support assembly includes a plurality of linkages connected in series along the longitudinal axis, and the variable-length support assembly has a compact configuration and an expanded configuration.

公开(公告)号：US10653866B2

公开(公告)日：2020-05-19

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Catherine J. Mohr ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe

IPC: A61B1/00 ,  A61M25/06 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01 ,  A61B34/20 ,  A61B17/00 ,  A61B17/22 ,  A61B5/00 ,  A61B34/30

Abstract: A medical system may comprise a catheter having a main lumen and a distal tip positioned in a working configuration at a working location. The medical system may also comprise a sensor system coupled to the catheter to generate measurement signals. The medical system may also comprise a control system. The control system may be configured to receive the measurement signals from the sensor system. The control system may be operable to identify from the received measurement signals the working configuration of the distal tip of the catheter. The control system may be configured to control at least one degree of freedom of the distal tip of the catheter to maintain the working configuration of the distal tip of the catheter based on a selected stiffness mode and the received measurement signals. The selected stiffness mode determines the at least one degree of freedom of the distal tip.

公开(公告)号：US20200069384A1

公开(公告)日：2020-03-05

申请号：US16446015

申请日：2019-06-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Benjamin E. Goodman

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B34/20 ,  A61B90/50 ,  A61B34/30

Abstract: A guiding apparatus comprises a plurality of support members. Each of the plurality of support members has a curved profile to resist bending in at least one direction. The guiding apparatus also comprises a retraction system coupled to the plurality of support members. The plurality of support members has an extended configuration in which the plurality of support members is positioned in an arrangement to form a channel sized to receive an instrument. The plurality of support members has a retracted configuration in which each of the plurality of support members is retracted within the retraction system as the instrument is advanced along a longitudinal axis.

公开(公告)号：US20180303328A1

公开(公告)日：2018-10-25

申请号：US16021326

申请日：2018-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Anoop B. Kowshik ,  Stephen J. Blumenkranz ,  Christopher B. Allenby

IPC: A61B1/12 ,  A61B17/00 ,  A61M13/00

CPC classification number: A61B1/126 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00091 ,  A61B1/00154 ,  A61B1/015 ,  A61B1/04 ,  A61B17/00234 ,  A61B34/30 ,  A61M1/008 ,  A61M3/0279 ,  A61M13/003 ,  A61M2202/0225

Abstract: A method of operating an anatomical probe system comprises providing an elongated flexible body including a channel and providing an operational component extending within the channel of the flexible body. The method also comprises providing a support member at a distal end of the flexible body. The support member includes a fluid director. The method also includes conveying fluid through the channel and into contact with the fluid director to direct the fluid toward the operational component.

公开(公告)号：US20180078249A1

公开(公告)日：2018-03-22

申请号：US15824534

申请日：2017-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Katherine D. Stoy ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech

IPC: A61B17/00

CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00318 ,  A61B2017/00336

Abstract: A surgical device comprises a tube including a proximal segment and a distal segment and a plurality of force transmission elements coupled to the tube. The force transmission elements are actuatable to alter the distal segment of the tube between a flexible state and a stiffened state. The device also comprises a plurality of routing members. Each routing member is coupled to a wall of the tube. The routing members are configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. The device also comprises a decoupling structure that generates a reduced force transmitted to the proximal segment when an applied force is applied to the distal segment by the force transmission elements.

公开(公告)号：US20180070935A1

公开(公告)日：2018-03-15

申请号：US15697879

申请日：2017-09-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

IPC: A61B17/00

CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B34/77 ,  A61B2017/00305 ,  A61B2017/00469 ,  A61B2017/00991 ,  A61B2034/301

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a telescoping support assembly including a plurality of support members extending along a longitudinal axis between a proximal end and a distal end. Each of the support members comprises a ring having an inner surface, an outer surface, and a plurality of flanges. Each of the plurality of flanges extends from the inner surface of the ring to define a central passageway, which is configured to receive the elongated flexible instrument. The assembly is configured to selectively transition from a compressed to an expanded configuration along the longitudinal axis, and is adapted to support the elongated flexible instrument as the instrument is advanced along the longitudinal axis.