公开(公告)号：US20190298466A1

公开(公告)日：2019-10-03

申请号：US16317268

申请日：2017-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jordan M. KLEIN ,  William J. PARK ,  Thomas G. COOPER ,  Thad LIEB

IPC: A61B34/00 ,  A61B34/35 ,  A61B18/14

Abstract: A surgical instrument component for coupling an end effector to a shaft of a surgical instrument may comprise a distal portion made of an electrically conductive first material, a proximal portion made of an electrically conductive second material, and an intermediate portion made of an electrically insulating third material. The intermediate portion is disposed between and integrally connected to the proximal portion and to the distal portion.

公开(公告)号：US20190274781A1

公开(公告)日：2019-09-12

申请号：US16317222

申请日：2017-06-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Thomas G. COOPER

IPC: A61B90/70 ,  B08B9/032

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.

公开(公告)号：US20240293942A1

公开(公告)日：2024-09-05

申请号：US18591683

申请日：2024-02-29

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

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：US20240090972A1

公开(公告)日：2024-03-21

申请号：US18376726

申请日：2023-10-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  S. Christopher ANDERSON ,  Thomas G. COOPER

IPC: A61B90/70 ,  A61B34/30 ,  B08B9/032

CPC classification number: A61B90/70 ,  A61B34/30 ,  B08B9/032 ,  A61B2017/2908 ,  A61B2034/302

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.

公开(公告)号：US20240090958A1

公开(公告)日：2024-03-21

申请号：US18243311

申请日：2023-09-07

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 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20230329815A1

公开(公告)日：2023-10-19

申请号：US18340943

申请日：2023-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. COOPER

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B2050/105 ,  A61B2034/304 ,  A61B2017/00017

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20230210614A1

公开(公告)日：2023-07-06

申请号：US18091941

申请日：2022-12-30

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 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20220183711A1

公开(公告)日：2022-06-16

申请号：US17559242

申请日：2021-12-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. COOPER

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

Abstract: A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. A rocking pin in the form of a solid of revolution is pivotally supported by the clevis. The rocking pin may be pivotally supported by the clevis at the midpoint between the first and second ends. The opposite ends of the rocking pin engage the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft to provide an endoscopic instrument. The first and second jaws may be electrically isolated from one another for electrocautery and the rocking pin may be formed from a non-conductive material or electrically isolated from the first and second jaws by electrically non-conductive liners. The jaws may be opened and closed by pushing and pulling on wires coupled to the jaws.

公开(公告)号：US20220054208A1

公开(公告)日：2022-02-24

申请号：US17460977

申请日：2021-08-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. COOPER ,  Matthew R. WILLIAMS ,  William John PARK

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  B25J9/06 ,  B25J15/04 ,  B25J15/00 ,  B25J15/12 ,  B25J15/10 ,  B25J9/10 ,  A61B17/00 ,  A61B18/12 ,  A61B18/14

Abstract: An articulatable member includes a distal end, a proximal end, an actuation member, and a constraint member. The actuation member extends from the proximal end to the distal end. The actuation member transmits force to bend the articulatable member from a neutral position. The constraint member extends from the proximal end to the distal end. The constraint member may have opposite ends that are fixed to the distal end and the proximal end. In one embodiment, the constraint member follows a helical path along at least a portion of the articulatable member from the proximal end to the distal end. In another embodiment, the actuation member follows a helical path along at least a portion of the articulatable member.

公开(公告)号：US20210077207A1

公开(公告)日：2021-03-18

申请号：US17106926

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. HOLOP ,  Thomas G. COOPER

IPC: A61B34/30 ,  A61B18/14

Abstract: A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state.