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    Cable length conserving medical instrument
    31.
    发明授权
    Cable length conserving medical instrument 有权

    公开(公告)号：US11241290B2

    公开(公告)日：2022-02-08

    申请号：US16462114

    申请日：2017-11-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Andrew C. Waterbury ,  John Ryan Steger ,  Zhou Ye

    IPC: A61B34/30 ,  B25J15/00 ,  B25J9/10 ,  B25J17/02 ,  A61B17/29 ,  A61B34/00 ,  A61B17/00

    Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.

    SURGICAL INSTRUMENT STERILE ADAPTER WITH OPTICAL COUPLER
    32.
    发明申请
    SURGICAL INSTRUMENT STERILE ADAPTER WITH OPTICAL COUPLER 有权

    公开(公告)号：US20220000570A1

    公开(公告)日：2022-01-06

    申请号：US17475259

    申请日：2021-09-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： John Ryan Steger

    IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  A61B34/20 ,  A61B34/37

    Abstract: A connector system is provided to connect a carriage that includes a rotatable drive member to a surgical instrument that includes a driven member, comprising. a mechanical interface that includes a drive transmission member configured to receive a rotational drive force provided by the drive member at the internal surface region and to provide a corresponding rotational drive force to the driven member at the external surface region; and a support to mount an end portion of an optical fiber to the mechanical interface with a center axis of the first end portion aligned with an axis of rotation of the drive transmission member.

    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS
    33.
    发明申请
    ASSOCIATION PROCESSES AND RELATED SYSTEMS FOR MANIPULATORS 有权

    公开(公告)号：US20210401519A1

    公开(公告)日：2021-12-30

    申请号：US16633501

    申请日：2018-07-18

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

    IPC: A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  H04W12/50

    Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.

    REPOSITIONING SYSTEM FOR A REMOTELY CONTROLLABLE MANIPULATOR AND RELATED METHODS
    34.
    发明申请
    REPOSITIONING SYSTEM FOR A REMOTELY CONTROLLABLE MANIPULATOR AND RELATED METHODS 有权

    公开(公告)号：US20210128262A1

    公开(公告)日：2021-05-06

    申请号：US16484299

    申请日：2017-12-11

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Daniel H. Gomez ,  John Ryan Steger

    IPC: A61B34/00

    Abstract: A computer-assisted system comprises a manipulator configured to support a tool, a lockable joint, and a controller. The manipulator extends distally from a base and comprises a distal portion. The lockable joint is coupled to the base and located proximally relative to the base. The controller is operably coupled to a powered joint. The powered joint is located distally relative to the base. The controller is configured to perform operations. The operations comprise: driving the powered joint to move the distal portion while the lockable joint is locked, and driving the powered joint to move the base while the lockable joint is unlocked and a position of the distal portion is externally maintained. A method includes processes for operating a computer-assisted system. A method includes determining a desired motion envelope for a tool supported by a manipulator, and positioning a base of the manipulator based on the desired motion envelope.

    Instrument shaft for computer-assisted surgical system
    37.
    发明授权
    Instrument shaft for computer-assisted surgical system 有权

    公开(公告)号：US10130437B2

    公开(公告)日：2018-11-20

    申请号：US14911977

    申请日：2014-08-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Peling Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Matthew R. Williams

    IPC: A61B17/00 ,  A61B34/00 ,  A61B18/14 ,  A61B17/29 ,  A61B34/30 ,  A61B90/70

    Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.

    CANNULA WITH SENSORS TO MEASURE PATIENT BODYWALL FORCES
    38.
    发明申请
    CANNULA WITH SENSORS TO MEASURE PATIENT BODYWALL FORCES 审中-公开

    公开(公告)号：US20170265890A1

    公开(公告)日：2017-09-21

    申请号：US15329982

    申请日：2015-07-27

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brett Page ,  Lawton N. Verner ,  John Ryan Steger ,  Smita De

    IPC: A61B17/34 ,  A61B34/20 ,  A61B90/11 ,  A61B17/02

    Abstract: A cannula is provided that includes a head portion that defines a proximal opening sized to receive one or more surgical instruments; an elongated inner tube rigidly fastened to the head portion defines an elongated conduit; a surgical instrument can be inserted within the conduit; an elongated overtube rigidly fastened to the head portion is coaxially aligned with the inner tube and extends about a portion of the inner tube; an inner wall of the overtube is spaced apart from an outer wall of the inner tube; sensors are disposed on the overtube to provide an indication of forces applied to the outer wall of the overtube in a direction generally transverse to the longitudinal dimension of the overtube.

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