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    End Effector With Redundant Closing Mechanisms
    31.
    发明申请
    End Effector With Redundant Closing Mechanisms 有权

    公开(公告)号：US20210106330A1

    公开(公告)日：2021-04-15

    申请号：US17130464

    申请日：2020-12-22

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： William A. Burbank

    IPC: A61B17/072 ,  A61B34/00 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15 ,  A61B34/37 ,  A61B17/29 ,  A61B17/285 ,  A61B17/32

    Abstract: Surgical instruments operable to apply a grasping force to a tissue include a cable driven actuation mechanism. A surgical instrument includes an end effector and a first actuation mechanism. The end effector includes an end effector base, an articulated jaw pivotally coupled to the end effector base, and an opposing jaw. The first actuation mechanism includes a first pulley and a first cable segment. The first pulley is mounted for rotation relative to the end effector base. The first cable segment is interfaced with a sector of the first pulley. The first cable segment is coupled to the articulated jaw. The first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.

    Motor interface for parallel drive shafts within an independently rotating member
    32.
    发明授权
    Motor interface for parallel drive shafts within an independently rotating member 有权

    公开(公告)号：US10779896B2

    公开(公告)日：2020-09-22

    申请号：US15677782

    申请日：2017-08-15

    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 ,  A61B17/00

    Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.

    Latch to secure teleoperated surgical instrument to actuator
    33.
    发明授权
    Latch to secure teleoperated surgical instrument to actuator 有权

    公开(公告)号：US10420622B2

    公开(公告)日：2019-09-24

    申请号：US15121351

    申请日：2015-03-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

    IPC: A61B17/00 ,  A61B34/30 ,  A61B46/00 ,  A61B90/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B90/98 ,  F16H1/20

    Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

    Stapler with cable-driven advanceable clamping element and dual distal pulleys
    34.
    发明授权
    Stapler with cable-driven advanceable clamping element and dual distal pulleys 有权

    公开(公告)号：US10350016B2

    公开(公告)日：2019-07-16

    申请号：US15462551

    申请日：2017-03-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： William A. Burbank ,  Gregory W. Dachs, II

    IPC: A61B17/072 ,  A61B34/00 ,  A61B34/30 ,  A61B17/068 ,  A61B34/37 ,  A61B17/00 ,  A61B17/29

    Abstract: A surgical instrument comprising: a jaw assembly; a slider beam; first and second distal jaw-mounted coaxial pulleys rotatably mounted to a distal portion of the second assembly; a two degree of freedom wrist that includes first and second pitch axis pulleys rotatable about a pitch axis and that includes a yaw pulley rotatable about a yaw axis; a first cable that is secured to the slider beam, that wraps about the first distal jaw-mounted pulley and that extends parallel to the jaw assembly to opposite sides of the first pitch axis pulley; a second cable that is secured to the slider beam, that wraps about the second distal jaw-mounted pulley and that extends parallel to the second jaw assembly to opposite sides of the second pitch axis pulley; and at least one yaw cable wrapped about at least a portion of the yaw pulley.

    Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft
    35.
    发明授权
    Seals and sealing methods for a surgical instrument having an articulated end effector actuated by a drive shaft 有权

    公开(公告)号：US10228058B2

    公开(公告)日：2019-03-12

    申请号：US14943564

    申请日：2015-11-17

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Grant Duque ,  Todd E. Murphy ,  William A. Burbank ,  Gregory W. Dachs, II

    IPC: A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  F16J15/32

    Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

    Surgical tool with a two degree of freedom wrist
    36.
    发明授权
    Surgical tool with a two degree of freedom wrist 有权

    公开(公告)号：US10045823B2

    公开(公告)日：2018-08-14

    申请号：US14485427

    申请日：2014-09-12

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： William A. Burbank

    IPC: A61B17/00 ,  A61B19/00 ,  F16D3/26 ,  F16D3/18 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37

    Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

    Motor Interface For Parallel Drive Shafts Within an Independently Rotating Member
    37.
    发明申请
    Motor Interface For Parallel Drive Shafts Within an Independently Rotating Member 审中-公开

    公开(公告)号：US20170367775A1

    公开(公告)日：2017-12-28

    申请号：US15677782

    申请日：2017-08-15

    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 ,  A61B17/00

    Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.

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