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公开(公告)号：US11000345B2
公开(公告)日：2021-05-11
申请号：US16317222
申请日：2017-06-22
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US10980556B2
公开(公告)日：2021-04-20
申请号：US16456148
申请日：2019-06-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： S. Christopher Anderson , Thomas G. Cooper
Abstract: A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.
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公开(公告)号：US20200173525A1
公开(公告)日：2020-06-04
申请号：US16780432
申请日：2020-02-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US10550918B2
公开(公告)日：2020-02-04
申请号：US14461320
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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公开(公告)号：US09839439B2
公开(公告)日：2017-12-12
申请号：US14461322
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2034/304 , A61B2034/306
Abstract: A force transmission transmits a force received by two rotational inputs to an output gimbal plate. Two capstans receive the rotational input. The capstans drive cables connected to three levers. A cable is connected directly from each of the capstans to one of two levers. Another cable is connected to both capstans and passes over a pulley rotatably coupled to the third lever. Each of three linkages has a first end coupled to one of the three levers and a second end coupled to the output gimbal plate. Rotation of each of the first and the second input capstans causes the three cables to move the three levers such that there is no net movement of the three seconds ends of the linkages with respect to the center of motion of the output gimbal plate. The output gimbal plate may orient a mechanically actuated surgical tool.
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Patent Agency Ranking
公开(公告)号：US20130123805A1
公开(公告)日：2013-05-16
申请号：US13739583
申请日：2013-01-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William John PARK , S. Christopher Anderson , Thomas G. Cooper , Matthew R. Williams
IPC: A61B19/00
CPC classification number: A61B19/20 , A61B18/1445 , A61B34/30 , A61B34/35 , A61B46/10 , A61B46/13 , A61B90/04 , A61B2018/00083 , A61B2090/0813
Abstract: A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an initial pressure lower than the insufflation gas pressure.
Abstract translation: 手术装置包括具有近端和远端的轴，连接到轴的远端的端部执行器和设置在仪器轴的外表面上的护套。 护套包括可渗透气体的材料，以便在将鞘和轴插入手术注入气体压力的环境中之后允许压差平衡。 压力差在吹入气体压力和低于吹入气体压力的初始压力之间。
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公开(公告)号：US11950873B2
公开(公告)日：2024-04-09
申请号：US17529967
申请日：2021-11-18
Applicant: Intuitive Surgical Operations, Inc.
CPC classification number: A61B34/71 , A61B34/00 , A61B34/30 , A61B2017/00477 , A61B17/29 , A61B2017/2903 , A61B2017/2929 , A61B2034/715 , A61B2090/371
Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
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公开(公告)号：US11805975B2
公开(公告)日：2023-11-07
申请号：US17980058
申请日：2022-11-03
Applicant: Intuitive Surgical Operations, Inc.
CPC classification number: A61B90/70 , A61B34/30 , B08B9/032 , A61B2017/00477 , A61B2017/2908 , A61B2034/302 , B08B2209/032
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US11633241B2
公开(公告)日：2023-04-25
申请号：US16703395
申请日：2019-12-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
IPC: A61B34/30 , A61B1/00 , A61B1/008 , A61B17/062 , A61B17/29 , A61B34/00 , A61B17/00 , A61B1/005 , A61B1/018 , A61B17/068 , A61B17/128 , A61B18/14
Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.
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公开(公告)号：US11248686B2
公开(公告)日：2022-02-15
申请号：US16780432
申请日：2020-02-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
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