公开(公告)号：US20200077878A1

公开(公告)日：2020-03-12

申请号：US16336741

申请日：2017-10-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jonathan Halderman ,  John A. Barton ,  Mathew Clopp ,  Rumen Deyanov ,  Anqi Fan ,  Yves Lacroix ,  Derek C. Liou ,  Theodore W. Rogers

IPC: A61B1/12 ,  A61B90/00 ,  A61B1/07 ,  A61B1/00 ,  A61B34/35 ,  A61B34/00 ,  G02B23/24 ,  G03B15/14

Abstract: An image capturing device comprises an elongated body, an imaging window coupled to a distal end of the elongated body, and a heat source within the elongated body. The heat source is configured to apply heat to the imaging window to remove condensation from or prevent condensation from forming on the imaging window.

公开(公告)号：US20190321591A1

公开(公告)日：2019-10-24

申请号：US16405564

申请日：2019-05-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers

IPC: A61M25/00 ,  A61B1/00 ,  A61B1/005 ,  A61B17/34 ,  A61B34/00

Abstract: A stiffening assembly comprises a bulkhead including an inner surface shaped to define a central lumen, an outer surface surrounding the inner surface, and a wall connecting the outer and inner surfaces and shaped to form a plurality of holes spaced apart and surrounding the lumen. The stiffening assembly also comprises a plurality of longitudinal beams, each longitudinal beam extending through a corresponding hole of the plurality of holes. The stiffening assembly also comprises a clamping assembly configured to contact the plurality of longitudinal beams. The stiffening assembly is adjustable between a flexible state in which each longitudinal beam is movable within the corresponding hole of the plurality of holes and a stiffened state in which the clamping assembly clamps the plurality of longitudinal beams against the bulkhead such that transfer of shear forces between the plurality of longitudinal beams and the bulkhead stiffens the stiffening assembly.

公开(公告)号：US20180368663A1

公开(公告)日：2018-12-27

申请号：US16117935

申请日：2018-08-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Eugene F. Duval ,  Theodore W. Rogers

IPC: A61B1/005 ,  A61B34/30 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00

Abstract: A compliant surgical device such as a flexible entry guide employs tendons to operate or steer the device and attaches asymmetric or constant force spring systems to control tension in the tendons. As a result, the surgical device can be compliant and respond to external forces during a surgical procedure without rapidly springing back or otherwise causing a reaction that damages tissue. The compliance also permits manual positioning or shaping of the device during or before insertion for a surgical procedure without damaging the tendons or connections of the tendons within the device or to a backend mechanism

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.

公开(公告)号：US20180250828A1

公开(公告)日：2018-09-06

申请号：US15972643

申请日：2018-05-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US09801529B2

公开(公告)日：2017-10-31

申请号：US14947039

申请日：2015-11-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers

IPC: A61B1/00 ,  A61B1/018 ,  A61B1/05 ,  A61B17/29

CPC classification number: A61B1/018 ,  A61B1/00098 ,  A61B1/05 ,  A61B17/29 ,  A61B2017/2906

Abstract: A medical device such as an endoscope, a laparoscope, or other device including an entry guide uses outriggers or arms that are mounted on the distal end of the entry guide and rotationally deployed to provide separation of instruments when the entry guide reaches a work site. Deployment can be implemented with as few as one cable or actuator to operate the arms. This mechanism may achieve working separation in a short axial length without complicating instrument channels that may be used for other instruments introduced through the entry guide.

公开(公告)号：US09664262B2

公开(公告)日：2017-05-30

申请号：US14277000

申请日：2014-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Edward P. Donlon ,  Theodore W. Rogers ,  Bram Lambrecht

IPC: F16H19/02 ,  A61B34/30 ,  A61B17/00

CPC classification number: F16H19/02 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/715 ,  F16H19/001 ,  Y10T74/18792

Abstract: A force transmission mechanism for a teleoperated surgical instrument may include a gear, a push/pull drive element, and a connection element. The push/pull drive element may be configured to transmit force to actuate an end effector of the surgical instrument and to rotate with a shaft of the surgical instrument when the shaft is rotated by the force transmission mechanism. The connection element may operatively couple the gear and the push/pull drive element. The connection element may be configured to convert rotational movement of the gear to a substantially linear movement of the push/pull drive element. The connection element may be configured to rotate with the push/pull drive element and relative to the gear.

公开(公告)号：US20170071683A1

公开(公告)日：2017-03-16

申请号：US15359020

申请日：2016-11-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30 ,  A61B34/20 ,  A61B34/00

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract translation: 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。

公开(公告)号：US20160157944A1

公开(公告)日：2016-06-09

申请号：US15014513

申请日：2016-02-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe M. Prisco ,  Theodore W. Rogers ,  Vincent Duindam ,  Myriam J. Curet ,  Catherine J. Mohr ,  Katherine D. Stoy

IPC: A61B34/30

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/71 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2562/00 ,  G01B11/24 ,  G01D5/35316

Abstract: An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.

Abstract translation: 一种装置包括参考固定装置。 参考固定件包括接头和跟踪接头运动的联合跟踪器。 该装置还包括外科器械。 系绳连接在关节和手术器械之间。 形状传感器从参考固定件穿过关节，穿过系绳并进入外科器械。 形状传感器基本上没有扭曲。 联合跟踪器测量接头的运动。 来自形状传感器的来自联合跟踪器的信息的信息提供相对于参考固定装置的绝对三维信息，即在固定世界参考系中提供绝对三维信息。

公开(公告)号：US20160073864A1

公开(公告)日：2016-03-17

申请号：US14947039

申请日：2015-11-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers

IPC: A61B1/018 ,  A61B1/00

CPC classification number: A61B1/018 ,  A61B1/00098 ,  A61B1/05 ,  A61B17/29 ,  A61B2017/2906

Abstract: A medical device such as an endoscope, a laparoscope, or other device including an entry guide uses outriggers or arms that are mounted on the distal end of the entry guide and rotationally deployed to provide separation of instruments when the entry guide reaches a work site. Deployment can be implemented with as few as one cable or actuator to operate the arms. This mechanism may achieve working separation in a short axial length without complicating instrument channels that may be used for other instruments introduced through the entry guide.

Abstract translation: 诸如内窥镜，腹腔镜或包括进入引导件的其他装置的医疗装置使用安装在入口引导件的远端上的外伸支架或臂，并且当入口导板到达工作地点时旋转展开以提供仪器的分离。 部署可以通过少至一个电缆或执行器来实现，以操作臂。 该机构可以在短的轴向长度上实现工作分离，而不会使可能用于通过入口引导件引入的其它仪器的仪器通道复杂化。