公开(公告)号：US12102400B2

公开(公告)日：2024-10-01

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US11992936B2

公开(公告)日：2024-05-28

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  David Q. Larkin ,  Kent M. Anderson ,  Jeffrey D. Brown ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/50 ,  A61B90/90 ,  B25J15/00 ,  A61B17/34

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US11766301B2

公开(公告)日：2023-09-26

申请号：US17236868

申请日：2021-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

公开(公告)号：US11684439B2

公开(公告)日：2023-06-27

申请号：US16874163

申请日：2020-05-14

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: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  G03B5/02 ,  H04N5/225 ,  H04N5/232 ,  A61B17/00 ,  A61B90/50

CPC classification number: A61B34/70 ,  A61B1/00135 ,  A61B1/00142 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  H05K1/18 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2050/3008 ,  A61B2090/5025 ,  G03B5/02 ,  G03B2205/0015 ,  G03B2205/0069 ,  H01F2005/027 ,  Y10T74/20305

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US11596488B2

公开(公告)日：2023-03-07

申请号：US16851794

申请日：2020-04-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50 ,  G03B5/02

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

公开(公告)号：US11464595B2

公开(公告)日：2022-10-11

申请号：US16317280

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

Abstract: A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens instead of possibly bowing out and contacting a part of the insertion assembly or some other part of the surgical system.

公开(公告)号：US20220202510A1

公开(公告)日：2022-06-30

申请号：US17569335

申请日：2022-01-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Craig R. Ramstad ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  A61B17/34

Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.

公开(公告)号：US10993773B2

公开(公告)日：2021-05-04

申请号：US16377988

申请日：2019-04-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop

IPC: A61B34/30 ,  A61B34/00 ,  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.

公开(公告)号：US20210022768A1

公开(公告)日：2021-01-28

申请号：US17071643

申请日：2020-10-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Daniel H. Gomez ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B34/30 ,  A61B90/11

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.

公开(公告)号：US10799303B2

公开(公告)日：2020-10-13

申请号：US14911529

申请日：2014-08-13

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 (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.