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公开(公告)号：US11726106B2
公开(公告)日：2023-08-15
申请号：US17448068
申请日：2021-09-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Lawton N. Verner
IPC: G01P15/093 , G02B6/34 , G01L1/22
CPC classification number: G01P15/093 , G02B6/34 , G01L1/2225
Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.
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公开(公告)号：US11701194B2
公开(公告)日：2023-07-18
申请号：US17735664
申请日：2022-05-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lawton N. Verner , Hsien-Hsin Liao
CPC classification number: A61B34/76 , A61B34/30 , A61B34/77 , A61B1/045 , A61B2017/00199 , A61B2017/00225
Abstract: A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.
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公开(公告)号：US20210236215A1
公开(公告)日：2021-08-05
申请号：US17202053
申请日：2021-03-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lawton N. Verner , Stephen J. Blumenkranz
Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
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公开(公告)号：US20190383851A1
公开(公告)日：2019-12-19
申请号：US16455611
申请日：2019-06-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Lawton N. Verner
IPC: G01P15/093 , G02B6/34
Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.
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公开(公告)号：US09314926B2
公开(公告)日：2016-04-19
申请号：US13767856
申请日：2013-02-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. Bailey , Simon P. DiMaio , Tao Zhao , Lawton N. Verner , Alan E. Loh , Jonathan Sorger , Bruce Michael Schena
CPC classification number: B25J11/00 , A61B34/30 , A61B90/11 , A61B2017/00274 , A61B2017/3409 , A61B2018/1425 , A61B2034/2059 , A61B2090/3954 , A61B2090/3983 , A61B2090/506 , B25J5/02 , B25J9/1065
Abstract: Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.
Abstract translation: 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。
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Patent Agency Ranking
公开(公告)号：US20150135832A1
公开(公告)日：2015-05-21
申请号：US14540313
申请日：2014-11-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： STEPHEN J. BLUMENKRANZ , Lawton N. Verner
IPC: G01P15/093 , G02B6/34
CPC classification number: G01P15/093 , G01L1/2225 , G02B6/34
Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.
Abstract translation: 加速度计包括在限制空间内并且包括外科器械的远端部分的有限体积。 手术器械包括端部部件，联接到端部部件的接头，联接到接头的轴，以及力传感器和加速度计装置。 力传感器和加速度计装置联接在接头和轴之间。 力传感器和加速度计装置包括力传感器和加速度计。 加速度计包括具有光纤布拉格光栅的光纤。 从光纤布拉格光栅获取的信息用于驱动耦合到主控臂手术夹柄的振动触觉触觉反馈输出装置。
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公开(公告)号：US20220378474A1
公开(公告)日：2022-12-01
申请号：US17746617
申请日：2022-05-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brett M. Page , Lawton N. Verner , John Ryan Steger , Smita De
IPC: A61B17/34
Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.
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公开(公告)号：US11369411B2
公开(公告)日：2022-06-28
申请号：US16656422
申请日：2019-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brett M. Page , Lawton N. Verner , John Ryan Steger , Smita De
Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.
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公开(公告)号：US10966792B2
公开(公告)日：2021-04-06
申请号：US16272791
申请日：2019-02-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lawton N. Verner , Stephen J. Blumenkranz
Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
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公开(公告)号：US10898284B2
公开(公告)日：2021-01-26
申请号：US16272824
申请日：2019-02-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lawton N. Verner , Stephen J. Blumenkranz
Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
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