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公开(公告)号：US20160220272A1
公开(公告)日：2016-08-04
申请号：US15057080
申请日：2016-02-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Bruce Michael Schena , Randall Goldberg
CPC classification number: A61B17/3423 , A61B17/3462 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/76 , A61B2017/3441 , A61B2090/065
Abstract: Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.
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公开(公告)号：US09339344B2
公开(公告)日：2016-05-17
申请号：US13906949
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
CPC classification number: A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/506
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴与第一轴成90度角以外的非零角度偏移。
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33.发明申请SOFTWARE CENTER AND HIGHLY CONFIGURABLE ROBOTIC SYSTEMS FOR SURGERY AND OTHER USES 审中-公开软件中心和用于手术和其他用途的高可配置机器人系统公开(公告)号：US20150032126A1
公开(公告)日：2015-01-29
申请号：US14265671
申请日：2014-04-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce Michael Schena , David Q. Larkin , Gary S. Guthart
IPC: A61B19/00
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
Abstract translation: 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。
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公开(公告)号：US12082894B2
公开(公告)日：2024-09-10
申请号：US18136749
申请日：2023-04-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC: A61B17/072 , A61B34/00 , A61B34/30 , A61B17/00 , A61B17/068 , A61B17/115 , A61B17/29 , H04W84/12
CPC classification number: A61B34/30 , A61B17/07207 , A61B34/71 , A61B2017/00477 , A61B17/068 , A61B17/072 , A61B2017/07214 , A61B17/115 , A61B2017/2902 , A61B2017/2927 , A61B2034/302 , H04W84/12
Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
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公开(公告)号：US20230404688A1
公开(公告)日：2023-12-21
申请号：US18212604
申请日：2023-06-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Gregory W. Dachs, II , Todd Solomon
CPC classification number: A61B34/30 , A61B90/98 , A61B34/37 , A61B34/20 , A61B2017/00477
Abstract: A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
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Patent Agency Ranking
公开(公告)号：US20230372033A1
公开(公告)日：2023-11-23
申请号：US18136749
申请日：2023-04-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC: A61B34/30 , A61B34/00 , A61B17/072
CPC classification number: A61B34/30 , A61B34/71 , A61B17/07207 , A61B2017/00477
Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
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37.发明申请公开(公告)号：US20200281677A1
公开(公告)日：2020-09-10
申请号：US16748419
申请日：2020-01-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Gregory W. Dachs, II , Bruce Michael Schena , Amir H. Chaghajerdi , Niels Smaby , Tyler J. Morrissette
Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
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公开(公告)号：US10555783B2
公开(公告)日：2020-02-11
申请号：US15263816
申请日：2016-09-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Gregory W. Dachs, II , Todd Solomon
Abstract: A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, a plurality of gear boxes, and a plurality of output drive couplings driven by the gear boxes. The robotic assembly includes a sensor assembly that includes an orientation sensor, a sensor target, and a sensor shaft drivingly coupling the sensor target to a corresponding one of the output drive couplings.
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39.发明授权公开(公告)号：US09949801B2
公开(公告)日：2018-04-24
申请号：US15359405
申请日：2016-11-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Paul W. Mohr , Pushkar Hingwe , Paul Millman , Bruce Michael Schena , Roman L. Devengenzo , Scott Luke
CPC classification number: A61B34/37 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/742 , B25J9/1607 , Y10S901/15
Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.
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公开(公告)号：US09757203B2
公开(公告)日：2017-09-12
申请号：US15351254
申请日：2016-11-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
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