公开(公告)号：US10710246B2

公开(公告)日：2020-07-14

申请号：US15327322

申请日：2015-08-12

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

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 (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), 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：US20200054404A1

公开(公告)日：2020-02-20

申请号：US16661918

申请日：2019-10-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Craig R. Ramstad ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  A61B17/34

Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.

公开(公告)号：US10456166B2

公开(公告)日：2019-10-29

申请号：US15360311

申请日：2016-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US20190223966A1

公开(公告)日：2019-07-25

申请号：US16317440

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J9/16 ,  B25J13/06

Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

公开(公告)号：US20180353204A1

公开(公告)日：2018-12-13

申请号：US16050033

申请日：2018-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E, Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Thoeodore W, Rogers

IPC: A61B17/34 ,  F16F1/12 ,  A61B34/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61M13/00 ,  A61B17/02 ,  A61B90/98 ,  A61B50/00

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US20180153578A1

公开(公告)日：2018-06-07

申请号：US15866158

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Paul E. Lilagan ,  Daniel H. Gomez ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B17/00

CPC classification number: A61B17/3421 ,  A61B1/00064 ,  A61B17/3474 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00278 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/00362 ,  A61B2017/3445 ,  A61B2017/3466

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends of the instrument guide, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. A first guide channel of the plurality of instrument guide channels is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel of the plurality of instrument guide channels is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and to place a portion of the first surgical instrument supported by the first guide channel of the instrument guide adjacent the inner wall surface of the cannula.

公开(公告)号：US12220190B2

公开(公告)日：2025-02-11

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 ,  A61B17/00

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：US20240189056A1

公开(公告)日：2024-06-13

申请号：US18545555

申请日：2023-12-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. Ramstad ,  Jeffrey R. Roeder ,  Jeffrey D. Brown ,  Robert E. Holop ,  Anthony K. McGrogan

IPC: A61B46/10 ,  A61B17/00 ,  A61B34/30

CPC classification number: A61B46/10 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/302

Abstract: A sterile drape assembly for a surgical system can comprise a sterile drape and a cinch assembly affixed to the sterile drape. A surgical support system can include a manipulator arm assembly comprising a first manipulator link extending between opposite ends; a drape guide lip extending from one end of the opposite ends of the first actively controlled manipulator link; and a second manipulator link coupled to the first manipulator link wherein the drape guide lip is a barrier between contact of a first drape portion covering the second manipulator link with a second drape portion covering the first manipulator link.

公开(公告)号：US11986262B2

公开(公告)日：2024-05-21

申请号：US18083248

申请日：2022-12-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/00 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B46/10 ,  B25J9/12 ,  B25J9/16 ,  B25J13/06 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B17/3476 ,  A61B34/30 ,  A61B34/71 ,  A61B46/10 ,  B25J9/126 ,  B25J9/1689 ,  B25J13/06 ,  A61B2017/00398 ,  A61B2017/00473 ,  G05B2219/45117

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

公开(公告)号：US11986208B2

公开(公告)日：2024-05-21

申请号：US17071643

申请日：2020-10-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Daniel H Gomez ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B17/00 ,  A61B34/30 ,  A61B90/11

CPC classification number: A61B17/3421 ,  A61B1/00064 ,  A61B34/30 ,  A61B90/11 ,  A61B1/00135 ,  A61B1/00154 ,  A61B2017/00278 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/00362 ,  A61B2017/3445 ,  A61B2017/3449 ,  A61B2017/3466 ,  A61B17/3474

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.