公开(公告)号：US20250057609A1

公开(公告)日：2025-02-20

申请号：US18816668

申请日：2024-08-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/30 ,  A61B17/29 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37

Abstract: Surgical tools include an end effector mounted to an instrument shaft for articulation relative to the instrument shaft. A surgical tool includes an instrument shaft, an intermediate member pivotally coupled to the instrument shaft, an end effector and four tension members. The end effector includes an end effector base that is pivotally coupled to the intermediate member. The end effector base includes four attachment features. Each of the four tension members interfaces with an associated one of the four attachment features. The four tension members extend distally within a lumen of the instrument shaft and are arranged in diagonally opposed pairs.

公开(公告)号：US12082894B2

公开(公告)日：2024-09-10

申请号：US18136749

申请日：2023-04-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC: A61B17/072 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/068 ,  A61B17/115 ,  A61B17/29 ,  H04W84/12

CPC classification number: A61B34/30 ,  A61B17/07207 ,  A61B34/71 ,  A61B2017/00477 ,  A61B17/068 ,  A61B17/072 ,  A61B2017/07214 ,  A61B17/115 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2034/302 ,  H04W84/12

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

公开(公告)号：US20230372033A1

公开(公告)日：2023-11-23

申请号：US18136749

申请日：2023-04-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC: A61B34/30 ,  A61B34/00 ,  A61B17/072

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B17/07207 ,  A61B2017/00477

Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

公开(公告)号：US11717290B2

公开(公告)日：2023-08-08

申请号：US17130464

申请日：2020-12-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B17/072 ,  A61B34/30 ,  A61B34/00 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15 ,  A61B34/37 ,  A61B17/29 ,  A61B17/285 ,  A61B17/32 ,  A61B17/00

CPC classification number: A61B17/072 ,  A61B17/07207 ,  A61B17/285 ,  A61B17/29 ,  A61B17/320016 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/07214 ,  A61B2017/2932 ,  A61B2017/2933 ,  A61B2017/2938 ,  A61B2017/2946 ,  A61B2017/2947 ,  A61B2017/320052

Abstract: Surgical instruments operable to apply a grasping force to a tissue include a cable driven actuation mechanism. A surgical instrument includes an end effector and a first actuation mechanism. The end effector includes an end effector base, an articulated jaw pivotally coupled to the end effector base, and an opposing jaw. The first actuation mechanism includes a first pulley and a first cable segment. The first pulley is mounted for rotation relative to the end effector base. The first cable segment is interfaced with a sector of the first pulley. The first cable segment is coupled to the articulated jaw. The first actuation mechanism is operable to retract the first cable segment to cause the articulated jaw to apply a grasping force to a tissue disposed between the articulated jaw and the opposing jaw.

公开(公告)号：US20220183687A1

公开(公告)日：2022-06-16

申请号：US17684326

申请日：2022-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew A. Wixey ,  Gabriel F. Brisson ,  William A. Burbank ,  Patrick Flanagan ,  Pushkar Hingwe ,  David W. Weir ,  Donald F. Wilson, JR.

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00

Abstract: A computer-assisted device include an actuator and one or more processors. The computer-assisted device is configured to support an instrument having an end effector located at a distal end. To perform an operation with the instrument, the one or more processors are configured to operate the end effector according to a state machine having a first state and a second state. In the first state a velocity set point of the actuator is set to a first velocity. In the second state the velocity set point of the actuator is set to a second velocity lower than the first velocity. The state machine transitions from the first state to the second state when a force or torque applied by the actuator is above a first threshold and transitions from the second state to the first state when the force or torque applied by the actuator is below a second threshold.

公开(公告)号：US11351002B2

公开(公告)日：2022-06-07

申请号：US16450654

申请日：2019-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gabriel F. Brisson ,  William A. Burbank

IPC: A61B17/29 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/28 ,  A61B90/00 ,  A61B34/20 ,  A61B34/32 ,  A61B34/37

Abstract: Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

公开(公告)号：US11304768B2

公开(公告)日：2022-04-19

申请号：US17069606

申请日：2020-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35 ,  A61B17/29

Abstract: Surgical tools include an end effector mounted to an instrument shaft for articulation relative to the instrument shaft. A surgical tool includes an instrument shaft, an intermediate member pivotally coupled to the instrument shaft, an end effector and four tension members. The end effector includes an end effector base that is pivotally coupled to the intermediate member. The end effector base includes four attachment features. Each of the four tension members interfaces with an associated one of the four attachment features. The four tension members extend distally within a lumen of the instrument shaft and are arranged in diagonally opposed pairs.

公开(公告)号：US11291442B2

公开(公告)日：2022-04-05

申请号：US16072329

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew A. Wixey ,  Gabriel F. Brisson ,  William A. Burbank ,  Patrick Flanagan ,  Pushkar Hingwe ,  David W. Weir ,  Donald F. Wilson, Jr.

IPC: A61B17/072 ,  A61B90/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/20

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

公开(公告)号：US11284954B2

公开(公告)日：2022-03-29

申请号：US15212982

申请日：2016-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Kevin Durant ,  Gabriel F. Brisson ,  Scott E. Manzo ,  William A. Burbank

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B17/295 ,  A61B17/00 ,  A61B17/29

Abstract: A method of controlling a surgical instrument comprising an end effector may comprise detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position; and automatically controlling operation of the end effector component when a second signal is not detected within a predetermined delayed response time period after detecting the first signal, wherein the second signal indicates that the end effector component is in one of the first position or the second position.

公开(公告)号：US10980952B2

公开(公告)日：2021-04-20

申请号：US15592910

申请日：2017-05-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey ,  William A. Burbank ,  Robert C. Reid ,  Nathan A. Venskytis

IPC: A61B17/34 ,  A61B17/02 ,  A61M13/00 ,  A61B34/37

Abstract: A medical device can include a housing, a first seal structure, and a seal expander. The first seal structure can have a proximal end and a distal end, and a side wall surrounding and defining an interior chamber. A seal wall can be connected to the side wall and include an expandable opening. A seal expander can be coupled to the housing, and can be at least partially in the interior chamber of the first seal structure. The seal expander can include an expandable neck portion and a seal interface portion, the seal interface portion being near an intersection of the side wall and the seal wall.