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公开(公告)号：US20190046173A1
公开(公告)日：2019-02-14
申请号：US16162652
申请日：2018-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams
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.
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公开(公告)号：US10105128B2
公开(公告)日：2018-10-23
申请号：US15624344
申请日：2017-06-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams
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.
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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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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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Patent Agency Ranking
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：US11517397B2
公开(公告)日：2022-12-06
申请号：US17306498
申请日：2021-05-03
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US10506920B2
公开(公告)日：2019-12-17
申请号：US15652153
申请日：2017-07-17
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 , A61B34/30 , A61B34/37 , A61B34/35 , A61B1/018 , A61B17/00
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 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：US10292776B2
公开(公告)日：2019-05-21
申请号：US14796525
申请日：2015-07-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William J. Park , S. Christopher Anderson , Thomas G. Cooper , Matthew R. Williams
Abstract: A method using a sheathed surgical apparatus includes equalizing a pressure differential between a surgical insufflation gas pressure and an initial pressure lower than the insufflation gas pressure. The insufflation gas pressure is external to a portion of a surgical apparatus upon which a sheath is disposed, and the initial pressure is within the surgical apparatus. The equalizing of the pressure differential occurs via permeation of insufflation gas through the sheath.
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公开(公告)号：US09937007B2
公开(公告)日：2018-04-10
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.
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