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公开(公告)号：US09730572B2
公开(公告)日：2017-08-15
申请号：US14663854
申请日：2015-03-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christopher J. Hasser , Nitish Swarup , Thomas G. Cooper , S. Christopher Anderson
IPC: A61B1/00 , A61B1/005 , A61B1/05 , A61B1/008 , A61B34/00 , A61B34/37 , A61B34/35 , A61B1/04 , A61B1/018 , A61B17/00 , A61B34/30
CPC classification number: A61B1/0055 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B1/05 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2034/301 , A61B2034/305 , A61B2034/306
Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.
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公开(公告)号：US09717486B2
公开(公告)日：2017-08-01
申请号：US14536899
申请日：2014-11-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams
CPC classification number: A61B17/00234 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/00314 , A61B2017/0069 , A61B2017/2908 , A61B2017/2929 , A61B2017/2936 , A61B2034/304 , A61B2034/305 , A61B2034/306
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. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.
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23.发明申请公开(公告)号：US20170181801A1
公开(公告)日：2017-06-29
申请号：US15118305
申请日：2015-02-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC classification number: A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
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公开(公告)号：US09662175B2
公开(公告)日：2017-05-30
申请号：US14083241
申请日：2013-11-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Anthony McGrogan , Matthew Reagan Williams , Eugene F. Duval , S. Christopher Anderson
CPC classification number: A61B34/30 , A61B34/71 , A61B2017/00477 , B25J13/00 , G05G9/00 , Y10T74/18832 , Y10T74/18856 , Y10T74/20018 , Y10T74/20323 , Y10T74/20329
Abstract: A force transmission includes a gimbal plate having two degrees of freedom. Each of three lever arms is supported by a pivot between two ends of the lever arm. One end of each lever arm is coupled to the gimbal plate such that the three couplings are not collinear. An equalizer cable has two opposing ends, each end fixedly coupled to one of the lever arms. The equalizer cable is routed over a lever arm pulley pivotally coupled to another of the lever arms between the pivot and one end of the lever arm. The gimbal plate may be coupled to the three lever arms by flexible cables or by links that transmit compression forces but not tension forces. The cables may be substantially contained within a tube. The links may be electrically non-conductive. The force transmission may control a surgical end effector in a teleoperated surgical instrument.
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公开(公告)号：US20170071628A1
公开(公告)日：2017-03-16
申请号：US15360311
申请日：2016-11-23
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
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.
Abstract translation: 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。
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Patent Agency Ranking
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
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。
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公开(公告)号：US20150320501A1
公开(公告)日：2015-11-12
申请号：US14792378
申请日：2015-07-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Christopher S. Anderson
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B17/00 , A61B17/062 , A61B17/068 , A61B17/1285 , A61B17/29 , A61B18/1442 , A61B34/71 , A61B2017/003 , A61B2017/00309 , A61B2017/2901 , A61B2034/305 , A61B2034/306
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 comprises 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.
Abstract translation: 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 在一个实施例中，微创手术器械包括细长轴，其具有在工作端和近端之间的工作端，近端和轴线; 和末端执行器。 手腕构件具有柔性管，其包括延伸穿过由壁围成的内部的轴线。 柔性管的壁包括大致平行于柔性管的轴线定向的多个管腔。 手腕构件具有连接到细长轴的工作端的近端部分和连接到端部执行器的远端部分。 多个致动电缆具有连接到末端执行器的远端部分并且从远端部分延伸穿过腕部构件的壁的内腔朝向细长轴到近端部分，该近端部分可以在俯仰旋转和偏转旋转中使手腕构件弯曲 。
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公开(公告)号：US20150051034A1
公开(公告)日：2015-02-19
申请号：US14458018
申请日：2014-08-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
CPC classification number: A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2034/306
Abstract: A force transmission includes an input axle having an input axis of rotation that receives a rotational input. An input capstan is fixed to the input axle. An output capstan is fixed to a main tube bushing. The output capstan and main tube bushing have an output axis of rotation that is at an angle to the input axis of rotation. A cable couples the rotation of the input capstan to rotate the output capstan and the main tube bushing. At least one of the input capstan and the output capstan is tapered such that the overall path length of the cable remains substantially the same throughout the range of motion of the capstans.
Abstract translation: 力传递包括具有接收旋转输入的输入旋转轴线的输入轴。 输入绞盘固定在输入轴上。 输出绞盘固定在主管衬套上。 输出绞盘和主管衬套具有与输入旋转轴线成一定角度的输出旋转轴线。 电缆将输入绞盘的旋转耦合，以使输出绞盘和主管衬套旋转。 输入绞盘和输出绞盘中的至少一个是锥形的，使得电缆的总路径长度在绞盘的整个运动范围内保持基本相同。
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公开(公告)号：US20130325033A1
公开(公告)日：2013-12-05
申请号：US13907009
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael SCHENA , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
CPC classification number: A61B34/30 , A61B34/35 , A61B34/37 , A61B2017/00477 , A61B2034/304 , F16M11/2035
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。
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![[[Multi-Ply]] Strap guide system and methods thereof for robotic surgical arms Drive Trains for Robotic Arms](/abs-image/US/2013/09/19/US20130244820A1/abs.jpg.150x150.jpg)
30.发明申请[[Multi-Ply]] Strap guide system and methods thereof for robotic surgical arms Drive Trains for Robotic Arms 审中-公开[[多层]]用于机器人手术臂的带引导系统及其方法用于机器人手臂的驱动火车公开(公告)号：US20130244820A1
公开(公告)日：2013-09-19
申请号：US13890228
申请日：2013-05-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Todd R. Solomon , Thomas G. Cooper
IPC: F16H7/20
CPC classification number: F16H7/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00845 , A61B2034/305 , A61B2034/715 , B25J9/1045 , B25J18/00 , B25J18/005 , B25J18/007 , Y10S901/21 , Y10T29/49455 , Y10T29/49826 , Y10T74/20305 , Y10T74/20323
Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.
Abstract translation: 在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。 连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。 带传动系包括耦合到连杆组件的第一组和第二组皮带。 当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度 链接。
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