公开(公告)号：US20170311778A1

公开(公告)日：2017-11-02

申请号：US15652153

申请日：2017-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. Hasser ,  Nitish Swarup ,  Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/005 ,  A61B1/05 ,  A61B1/008 ,  A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  A61B1/00 ,  A61B1/018 ,  A61B17/00

CPC classification number: A61B1/0055 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B1/05 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00243 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：US20170281296A1

公开(公告)日：2017-10-05

申请号：US15624344

申请日：2017-06-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Daniel T. Wallace ,  Stacey Chang ,  S. Christopher Anderson ,  Dustin Williams

IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B1/005 ,  A61B1/008 ,  A61B17/29

CPC classification number: A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.

公开(公告)号：US20170156804A1

公开(公告)日：2017-06-08

申请号：US15435254

申请日：2017-02-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B1/00142 ,  A61B1/00149 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/018 ,  A61B17/00 ,  A61B17/062 ,  A61B17/068 ,  A61B17/1285 ,  A61B17/29 ,  A61B18/1442 ,  A61B34/71 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/2901 ,  A61B2034/305 ,  A61B2034/306

Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

公开(公告)号：USD746454S1

公开(公告)日：2015-12-29

申请号：US29464367

申请日：2013-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Designer： S. Christopher Anderson

公开(公告)号：USD746450S1

公开(公告)日：2015-12-29

申请号：US29464370

申请日：2013-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Designer： S. Christopher Anderson