公开(公告)号：US10456208B2

公开(公告)日：2019-10-29

申请号：US15126725

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Allen C. Thompson ,  Randal P. Goldberg ,  Dean F. Hoornaert ,  Tyler J. Morrissette ,  Bruce M. Schena

IPC: A61B34/35 ,  A61B34/30 ,  A61B46/10 ,  A61B17/34 ,  A61B17/00 ,  A61B90/00

Abstract: A cannula mount for a surgical system may include a body having an aperture to receive a portion of a cannula. The cannula mount may further include a pivotable clamping arm to engage the portion of the cannula received in the aperture. The clamping arm may include a cam follower surface. The cannula mount may further include a block moveable between a first position and a second position. The block may include a cam surface. The cam surface of the block may engage the cam follower surface of the clamping arm in the first position to actuate the clamping arm to a closed position in which the clamping arm engages the portion of the cannula received in the aperture. The clamping arm may be permitted to move to an open position in which the clamping arm does not engage the cannula when the block is in the second position.

公开(公告)号：US20190320878A1

公开(公告)日：2019-10-24

申请号：US16473439

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent Duindam ,  Federico Barbagli ,  Timothy D. Soper ,  Tao Zhao

IPC: A61B1/00 ,  A61B6/03 ,  A61B6/00 ,  G06T7/30 ,  G06T7/11

Abstract: Methods for using registered real-time images and prior-time anatomic images during an image-guided procedure are provided herein. An exemplary method includes obtaining a three-dimensional image of a patient anatomy and a portion of a medical instrument disposed therein. The three-dimensional image includes image information characterizing a shape of the portion of the medical instrument. A processing device segments the portion of the medical instrument from the three-dimensional image. Shape data is obtained from the portion of the medical instrument while the portion is positioned within the patient anatomy, and the processing device registers the segmented shape of the portion of the medical instrument with the shape data from the portion of the medical instrument.

公开(公告)号：US10449008B2

公开(公告)日：2019-10-22

申请号：US16014619

申请日：2018-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

IPC: A61B34/30 ,  B25J13/08 ,  B25J9/16 ,  A61B18/00 ,  A61B90/00

Abstract: A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

公开(公告)号：US20190314096A1

公开(公告)日：2019-10-17

申请号：US16317334

申请日：2017-05-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

Abstract: A controller in a computer-assisted teleoperated surgical system automatically moves a part of the system, in response to a user tapping the part, to facilitate draping of that part. This speeds the draping process and diminishes the likelihood that the sterile surgical drape is damaged or contaminated during the draping of that part of the system.

公开(公告)号：USD862693S1

公开(公告)日：2019-10-08

申请号：US29571109

申请日：2016-07-14

Applicant: Intuitive Surgical Operations, Inc.

Designer： Robert E. Holop ,  Bram Gilbert Antoon Lambrecht

公开(公告)号：US10433716B2

公开(公告)日：2019-10-08

申请号：US15662645

申请日：2017-07-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christoph Matthias Pistor ,  Joshua T. Oen

IPC: B25J17/00 ,  B25J18/00 ,  B29C41/42 ,  A61B1/005 ,  B25J9/00 ,  B25J18/06 ,  A61B34/30 ,  A61B1/055

Abstract: A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

公开(公告)号：US20190298462A1

公开(公告)日：2019-10-03

申请号：US16381323

申请日：2019-04-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William J. PARK ,  S. Christopher ANDERSON ,  Thomas G. COOPER ,  Matthew R. WILLIAMS

IPC: A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B46/10 ,  A61B46/13

Abstract: A surgical apparatus comprises an instrument shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath has a first section made of ePTFE and a second section made of a second material, wherein the second section provides a friction seal with the shaft, and wherein the ePTFE is gas-permeable.

公开(公告)号：US20190298461A1

公开(公告)日：2019-10-03

申请号：US16317484

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Todd R. Solomon

IPC: A61B34/30 ,  A61B34/00 ,  G16H40/63

Abstract: A surgical system includes a preload assembly in a surgical instrument surgical 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 a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical 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 surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.

公开(公告)号：US20190298398A1

公开(公告)日：2019-10-03

申请号：US16366854

申请日：2019-03-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ashley Lynne Wellman ,  David W. Weir ,  Matthew A. Wixey

IPC: A61B17/28 ,  A61B17/22 ,  A61B34/00 ,  A61B34/35

Abstract: Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.

公开(公告)号：US20190298323A1

公开(公告)日：2019-10-03

申请号：US16317214

申请日：2017-06-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B17/00 ,  A61B34/30

Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.