公开(公告)号：US10537358B2

公开(公告)日：2020-01-21

申请号：US14250705

申请日：2014-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  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: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

公开(公告)号：US10524868B2

公开(公告)日：2020-01-07

申请号：US15435254

申请日：2017-02-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/00 ,  A61B34/30 ,  A61B1/008 ,  A61B17/062 ,  A61B17/29 ,  A61B17/00 ,  A61B34/00 ,  A61B1/005 ,  A61B1/018 ,  A61B17/068 ,  A61B17/128 ,  A61B18/14

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：US20200000317A1

公开(公告)日：2020-01-02

申请号：US16567276

申请日：2019-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/005 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B34/37 ,  A61B34/30 ,  A61B1/00 ,  A61B34/00 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US20190231462A1

公开(公告)日：2019-08-01

申请号：US16379314

申请日：2019-04-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David Q. Larkin ,  David J. Rosa

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00327 ,  A61B2017/00477 ,  A61B2034/301

Abstract: An instrument chassis for a robotic surgical system includes a bridge member, a first instrument guide member configured to receive a first surgical instrument, a second instrument guide member configured to receive a second surgical instrument, wherein each of the first instrument guide member and the second instrument guide member is moveably coupled to the bridge member such that each of the first instrument guide member and the second instrument guide member is moveable in at least one degree of freedom relative to the bridge member, and a central instrument guide member coupled to the bridge member between the first instrument guide member and the second instrument guide member, the central instrument guide member configured to receive a third surgical instrument.

公开(公告)号：US09980630B2

公开(公告)日：2018-05-29

申请号：US14716695

申请日：2015-05-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B1/018 ,  A61B1/002 ,  A61B1/04 ,  A61B1/06 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B17/00 ,  A61B90/10 ,  A61B34/00 ,  A61B34/20 ,  A61B1/005 ,  A61B17/34 ,  A61B90/00

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

公开(公告)号：US09968405B2

公开(公告)日：2018-05-15

申请号：US14271763

申请日：2014-05-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC: A61B19/00 ,  A61B90/10 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/50 ,  A61B90/00

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.

公开(公告)号：US20180064493A1

公开(公告)日：2018-03-08

申请号：US15806920

申请日：2017-11-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  David Q. Larkin ,  Paul E. Lilagan

IPC: A61B19/00 ,  A61B17/29 ,  A61B17/00

CPC classification number: A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00314 ,  A61B2017/00398 ,  A61B2017/00407 ,  A61B2017/00725 ,  A61B2017/2902 ,  A61B2017/292 ,  A61B2017/2946 ,  Y10S901/31

Abstract: A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.

公开(公告)号：US20180042688A1

公开(公告)日：2018-02-15

申请号：US15339244

申请日：2016-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Todd R. Solomon ,  Thomas G. Cooper

IPC: A61B34/00 ,  G06F19/00 ,  B25J9/10 ,  A61B34/35

CPC classification number: A61B34/71 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00212 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2034/715 ,  A61B2046/234 ,  B25J9/1045 ,  G06F19/00 ,  G06F19/3418 ,  G06F19/3481 ,  G16H40/63 ,  Y10T74/20305

Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.

公开(公告)号：US09439732B2

公开(公告)日：2016-09-13

申请号：US13960644

申请日：2013-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Thomas G. Cooper ,  Joseph P. Orban, III ,  Bruce Michael Schena ,  Alan E. Loh ,  S. Christopher Anderson

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B90/00 ,  Y10S901/27 ,  Y10S901/41

Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.

公开(公告)号：US20160256183A1

公开(公告)日：2016-09-08

申请号：US15157308

申请日：2016-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper

IPC: A61B17/29 ,  A61B34/00 ,  A61B34/30 ,  A61B18/14

Abstract: A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. Each jaw includes a face that is perpendicular to the axis of rotation of the jaw. A rocking pin is pivotally supported by the clevis. The opposite ends of the rocking pin engage the faces of the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft with wires extending through the shaft to provide an endoscopic instrument. The jaws may be opened and closed by pushing and pulling on the wires. A wire guide may support the wires in the shaft such that they are able to transmit a compressive force without buckling. The wires may carry electricity to the jaws for electrocautery.

Abstract translation: 手术末端执行器包括U形夹和可旋转地联接到U形夹的两个钳口。 每个钳口包括垂直于钳口旋转轴线的面。 摇摆销由U形夹可枢转地支撑。 摆动销的相对端与钳口的表面接合，以约束钳口以围绕钳口的旋转轴线具有相反的运动。 U形夹可以连接到细长轴，其中丝线延伸穿过轴以提供内窥镜器械。 夹爪可以通过推拉电线来打开和关闭。 线引导件可以支撑轴中的线，使得它们能够传递压缩力而没有弯曲。 电线可以携带电力到钳口进行电烙。