公开(公告)号：US11284950B2

公开(公告)日：2022-03-29

申请号：US16242577

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B5/00 ,  A61B34/30 ,  A61B34/00 ,  A61B17/00

Abstract: A guiding apparatus comprises a support assembly extending along a longitudinal axis and including a first plurality of linkages and a second plurality of linkages. The first plurality of linkages includes a first channel formation and the second plurality of linkages includes a second channel formation. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an opening sized to receive an elongated flexible instrument.

公开(公告)号：US11253144B2

公开(公告)日：2022-02-22

申请号：US16021326

申请日：2018-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Anoop B. Kowshik ,  Stephen J. Blumenkranz ,  Christopher B. Allenby

IPC: A61B1/12 ,  A61B1/04 ,  A61B1/015 ,  A61B17/00 ,  A61M13/00 ,  A61M3/02 ,  A61B1/00 ,  A61M1/00 ,  A61B34/30

Abstract: An anatomical probe system includes an elongated flexible body including a channel defined by a wall, an operational component, a support member, an image obstruction detector, and a fluid director. The support member comprises a curved wall having a portion sized to fit within the channel and a frame shaped to retain the operational component. A frame wall is coupled to the curved wall such that the frame wall and the portion of the curved wall form an enclosed interior channel. The frame wall overlaps the portion of the curved wall in an axial direction such that a plane transverse to the axis intersects both the frame wall and the portion of the curved wall. The image obstruction detector is configured to detect an obstruction of the operational component and initiate a cleaning routine. The fluid director is configured to direct the fluid toward the operational component.

公开(公告)号：US10881385B2

公开(公告)日：2021-01-05

申请号：US15697879

申请日：2017-09-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech

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

Abstract: Described herein is an apparatus for guiding an elongated flexible instrument, the apparatus comprising a telescoping support assembly including a plurality of support members extending along a longitudinal axis between a proximal end and a distal end. Each of the support members comprises a ring having an inner surface, an outer surface, and at least one flange. Each flange extends from the inner surface of the ring to define a central passageway extending along the longitudinal axis and having a substantially constant width, which is configured to receive the elongated flexible instrument. The assembly is configured to selectively transition from a compressed to an expanded configuration along the longitudinal axis while each support member is interlocked with at least one other support member, and is adapted to support the elongated flexible instrument as the instrument is advanced along the longitudinal axis.

公开(公告)号：US20200254223A1

公开(公告)日：2020-08-13

申请号：US16863067

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Samuel Kwok Wai Au ,  Caitlin Q. Donhowe ,  Carolyn M. Fenech ,  Catherine J. Mohr ,  Giuseppe Maria Prisco

IPC: A61M25/06 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B5/06 ,  A61B10/02 ,  A61M25/00 ,  A61B1/01 ,  A61B10/04 ,  A61M25/01

Abstract: A robotic system comprises an instrument including a proximal section and a distal section. The distal section comprises a steerable segment and a distal tip. The instrument also includes a main lumen and a pull wire. The system also comprises a sensor to detect a position of the distal tip of the instrument and a computing device that causes the system to determine, based on a sensor signal, a movement of the distal tip of the instrument in response to insertion of a probe into the main lumen and to generate a control signal based on the determined movement. The system also comprises a drive interface connected to the pull wire at the proximal section of the instrument. The drive interface adjusts a tensioning of the pull wire based on the control signal. The tensioning returns the distal tip of the instrument towards a working configuration before the movement occurred.

公开(公告)号：US10729886B2

公开(公告)日：2020-08-04

申请号：US15685979

申请日：2017-08-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Hans F. Valencia

IPC: A61M25/01 ,  A61M25/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B34/20 ,  A61B1/00 ,  A61B1/005 ,  A61B1/267 ,  A61B34/30 ,  A61B17/00

Abstract: An axial support structure for a flexible elongate device includes a plurality of rigid links. each link comprises a shaft, a pair of male joint connectors comprising a male tab coplanar with the shaft extending from a first end, and a pair of female joint connectors comprising a female tab coplanar with the shaft extending from a second end. Each of the male joint connectors includes a pin extending from the male tab in a direction perpendicular to an axial direction of the shaft and each female tab defines an aperture. Each of the plurality of rigid links is rotated by 90 degrees with respect to neighboring links among the plurality of rigid links, thereby aligning each pair of male joint connectors with a neighboring pair of female joint connectors to form pin joints in which each aperture encircles a corresponding pin.

公开(公告)号：US20200163581A1

公开(公告)日：2020-05-28

申请号：US16752064

申请日：2020-01-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anoop B. Kowshik ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Carolyn M. Fenech

IPC: A61B5/06 ,  A61B34/20

Abstract: A catheter system comprises an elongate flexible catheter and a support structure mounted on the catheter. The support structure comprises a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor component and the second alignment feature configured to mate with a second sensor component. When the system further comprises a first sensor component mated with the first alignment feature and a second sensor component mated with the second alignment feature, the first sensor component is fixed relative to the second sensor component in at least one degree of freedom at the support structure by the first and second alignment features.

公开(公告)号：US20200146757A1

公开(公告)日：2020-05-14

申请号：US16735396

申请日：2020-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Vincent Duindam ,  Giuseppe Maria Prisco

IPC: A61B34/20 ,  A61M25/01 ,  A61B5/06 ,  A61B34/10

Abstract: A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube.

公开(公告)号：US10413372B2

公开(公告)日：2019-09-17

申请号：US15329916

申请日：2015-07-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Benjamin E. Goodman

IPC: A61M31/00 ,  A61M37/00 ,  A61B34/35 ,  A61B90/50 ,  A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B34/00

Abstract: A guiding apparatus includes a plurality of collapsible support members, a plurality of retraction assemblies, each of the plurality of retraction assemblies coupled to a respective one of the plurality of collapsible support members, and a connector adapted to connect the plurality of retraction assemblies to a teleoperational manipulator arm. The plurality of collapsible support members have an extended configuration in which the plurality of collapsible support members are arranged to form a channel extending along a longitudinal axis, the channel sized to receive an elongated instrument. The plurality of collapsible support members have a collapsed configuration in which each of the plurality of collapsible support members is retracted within a respective coupled retraction assembly as the elongated instrument is advanced along the longitudinal axis.

公开(公告)号：US20190133702A1

公开(公告)日：2019-05-09

申请号：US16242577

申请日：2019-01-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Eleadin Castaneda ,  Vincent Duindam

IPC: A61B34/30 ,  A61B34/00

Abstract: A guiding apparatus comprises a support assembly extending along a longitudinal axis. The support assembly includes a first plurality of linkages including a first channel formation, a second plurality of linkages including a second channel formation, and a strut having a proximal portion and a distal portion. The distal portion of the strut is coupled to the support assembly. The support assembly has a coupled configuration with a proximal end and a distal end in which the first plurality of linkages is coupled to the second plurality of linkages with the first and second channel formations arranged to form a continuous channel through the support assembly. The continuous channel has an elongated opening sized to receive an elongated flexible instrument in a direction generally perpendicular to the longitudinal axis.

公开(公告)号：US10039440B2

公开(公告)日：2018-08-07

申请号：US13911705

申请日：2013-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn M. Fenech ,  Anoop B. Kowshik ,  Stephen J. Blumenkranz ,  Christopher Allenby

IPC: A61B1/015 ,  A61B1/00 ,  A61B1/12 ,  A61B17/00 ,  A61B1/04 ,  A61M13/00 ,  A61M3/02 ,  A61M1/00 ,  A61B34/30

Abstract: An anatomical probe system comprises an elongated flexible body and an operational component extending within a channel of the flexible body. The system also comprises a support member at a distal end of the elongated flexible body. The support member includes a fluid director adapted to direct a fluid from the channel toward the operational component. The fluid may be automatically directed towards the operational component in response to detecting a material obstruction of an image.