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公开(公告)号：US10321900B2
公开(公告)日：2019-06-18
申请号：US15913602
申请日：2018-03-06
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A passive preload system may maintain minimum tensions in the tendons.
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公开(公告)号：US20180256270A1
公开(公告)日：2018-09-13
申请号：US15978357
申请日：2018-05-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Stephen J. Blumenkranz , Gary S. Guthart , David J. Rosa
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B90/10 , A61B90/361 , A61B2017/00477 , A61B2034/304 , A61B2034/305 , A61B2090/506 , Y10S901/09 , Y10S901/14 , Y10S901/15 , Y10S901/16 , Y10S901/17 , Y10S901/18
Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
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公开(公告)号：US20180116760A1
公开(公告)日：2018-05-03
申请号：US15859923
申请日：2018-01-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz
CPC classification number: A61B90/70 , A61B34/30 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/701 , B08B9/00
Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.
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公开(公告)号：US09931106B2
公开(公告)日：2018-04-03
申请号：US14068127
申请日：2013-10-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
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公开(公告)号：US09883920B2
公开(公告)日：2018-02-06
申请号：US14848566
申请日：2015-09-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz
CPC classification number: A61B90/70 , A61B34/30 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/701 , B08B9/00
Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.
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Patent Agency Ranking
公开(公告)号：US09572626B2
公开(公告)日：2017-02-21
申请号：US14181541
申请日：2014-02-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Lawton N. Verner , Stephen J. Blumenkranz
CPC classification number: A61B34/30 , A61B17/0218 , A61B17/3462 , A61B2034/302 , A61M39/0693 , A61M2039/0626
Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
Abstract translation: 公开了致动套管密封件的实施例。在一些实施例中，插管密封件包括与插管接合的基部; 以及密封部，其与所述基部一体形成，所述密封部能够与器械轴接合，所述密封部能够由致动器致动，使得所述密封部相对于所述器械轴不断地运动。 密封部分的致动可以通过密封部分相对于仪器轴的旋转或振动来实现。
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公开(公告)号：US20160235488A1
公开(公告)日：2016-08-18
申请号：US15141691
申请日：2016-04-28
Applicant: Intuitive Surgical Operations, Inc.
CPC classification number: A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
Abstract: In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
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公开(公告)号：US20150374447A1
公开(公告)日：2015-12-31
申请号：US14848566
申请日：2015-09-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz
CPC classification number: A61B90/70 , A61B34/30 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/701 , B08B9/00
Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.
Abstract translation: 力传感器联接到外科器械的轴的远端部分。 力传感器包括近端和远端部分，径向肋和多个应变仪。 径向肋形成多个通路。 手术器械还包括冲洗歧管，其从轴的近端部分接收液体，并且将液体沿着多个通过通道的第一子集穿过力传感器的远端引导。 力传感器的远端部分处的气室将液体从第一通道子集收集，并且将液体沿着穿过与第一子集不同的多个通过通道的第二子通道重新定向到轴的近端部分 通过通道。
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公开(公告)号：US20140180310A1
公开(公告)日：2014-06-26
申请号：US14065869
申请日：2013-10-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Chris Julian , Robert C. Younge
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , G16H40/63 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
Abstract translation: 用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在该工具上的存储器。 当工具装载在工具操纵器上时，存储器可以执行多种功能：首先，存储器可以提供一个信号，以验证该工具是否与该特定机器人系统兼容。 其次，工具存储器可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。 第三，工具的记忆可以指示工具特定的信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。 该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。 本发明还提供了用于将机器人外科手术工具与机械手结构相结合的改进的接合结构。
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公开(公告)号：US20140128849A1
公开(公告)日：2014-05-08
申请号：US14068127
申请日：2013-10-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Samuel Kwok Wai Au , Stephen J. Blumenkranz , Giuseppe Maria Prisco
IPC: A61B17/00
CPC classification number: A61B17/00 , A61B34/30 , A61B34/71 , A61B2034/715
Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.
Abstract translation: 包括安装在轴的远端处的轴和致动结构的医疗器械可以使用连接到致动结构的一对腱，沿轴向下延伸，并且在相反方向上分别卷绕在绞盘上。 可以联接预加载系统以维持腱中的最小张力。
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