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    Method for robotic arms with strap drive trains
    31.
    发明申请
    Method for robotic arms with strap drive trains 审中-公开
    机械臂与带驱动列车的方法

    公开(公告)号：US20130239392A1

    公开(公告)日：2013-09-19

    申请号：US13890234

    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。

    Telescoping medical device assembly and sterile drape
    32.
    发明授权
    Telescoping medical device assembly and sterile drape 有权

    公开(公告)号：US12186048B2

    公开(公告)日：2025-01-07

    申请号：US17942330

    申请日：2022-09-12

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Craig R. Ramstad ,  Anthony K. McGrogan ,  Todd R. Solomon

    IPC: A61B34/30 ,  A61B46/10 ,  A61B17/00

    Abstract: A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion assembly. The plurality of tabs extends from the second end of the body.

    Preloaded surgical instrument interface
    34.
    发明授权
    Preloaded surgical instrument interface 有权

    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.

    Automated instrument preload engage/disengage mechanism
    35.
    发明授权
    Automated instrument preload engage/disengage mechanism 有权

    公开(公告)号：US11020190B2

    公开(公告)日：2021-06-01

    申请号：US16317484

    申请日：2017-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Robert E. Holop ,  Todd R. Solomon

    IPC: A61B34/30 ,  A61B34/00 ,  G16H40/63 ,  A61B90/00

    Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.

    Variable instrument preload mechanism controller
    36.
    发明授权
    Variable instrument preload mechanism controller 有权

    公开(公告)号：US10932868B2

    公开(公告)日：2021-03-02

    申请号：US14911523

    申请日：2014-08-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Todd R. Solomon ,  Anthony K. McGrogan ,  Thomas G. Cooper

    IPC: A61B34/30 ,  A61B17/00

    Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

    Automated Instrument Preload Engage/Disengage Mechanism
    38.
    发明申请
    Automated Instrument Preload Engage/Disengage Mechanism 审中-公开

    公开(公告)号：US20190298461A1

    公开(公告)日：2019-10-03

    申请号：US16317484

    申请日：2017-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Robert E. Holop ,  Todd R. Solomon

    IPC: A61B34/30 ,  A61B34/00 ,  G16H40/63

    Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.

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