公开(公告)号：US11564758B2

公开(公告)日：2023-01-31

申请号：US16831312

申请日：2020-03-26

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 ,  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：US11278364B2

公开(公告)日：2022-03-22

申请号：US16568118

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50 ,  A61B50/00 ,  G03B5/02

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US20210353377A1

公开(公告)日：2021-11-18

申请号：US17384026

申请日：2021-07-23

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 comprises a guide tube and a first instrument. The first instrument includes a first elongated shaft and a first proximal arm link coupled by a first shoulder joint, the first proximal arm link and a first distal arm link coupled by a first elbow joint, and the first distal arm link and a first end effector coupled by a first wrist joint. The surgical instrument assembly also comprises a second instrument that includes a second elongated shaft and a second proximal arm link coupled by a second shoulder joint, the second proximal arm link and a second distal arm link coupled by a second elbow joint, and the second distal arm link and a second end effector coupled by a second wrist joint. The surgical instrument assembly also includes an imaging assembly. The first and second end effectors are within the imaging assembly's field of view.

公开(公告)号：US10918449B2

公开(公告)日：2021-02-16

申请号：US15939705

申请日：2018-03-29

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 ,  Theodore 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：US20200146763A1

公开(公告)日：2020-05-14

申请号：US16742008

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

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

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

公开(公告)号：US10537358B2

公开(公告)日：2020-01-21

申请号：US14250705

申请日：2014-04-11

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: 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

Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

公开(公告)号：US20200000317A1

公开(公告)日：2020-01-02

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

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：US20160058512A1

公开(公告)日：2016-03-03

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

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.

Abstract translation: 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。

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：US20130325031A1

公开(公告)日：2013-12-05

申请号：US13906888

申请日：2013-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00477 ,  A61B2034/305

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 not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。