公开(公告)号：US20190231458A1

公开(公告)日：2019-08-01

申请号：US16311333

申请日：2017-06-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  David William Bailey ,  Theodore W. Rogers ,  Alec Paul Robertson

IPC: A61B34/35 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B17/34 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/302 ,  A61B2034/305

Abstract: Systems and methods for a computer-assisted instrument motion are described. For example, the disclosure provides mechanisms and techniques for holding an instrument with a computer-assisted manipulator assembly, and methods for actuating computer-assisted motions of the instrument.

公开(公告)号：US20190231455A1

公开(公告)日：2019-08-01

申请号：US16377988

申请日：2019-04-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. COOPER ,  Anthony K. McGrogan ,  Robert E. HOLOP

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/70 ,  A61B2017/00477

Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20190231451A1

公开(公告)日：2019-08-01

申请号：US16317211

申请日：2017-06-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon LAMBRECHT ,  Thomas G. COOPER

IPC: A61B34/30 ,  F16H55/17

CPC classification number: A61B34/30 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/302 ,  F16H55/17

Abstract: A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.

公开(公告)号：US20190231450A1

公开(公告)日：2019-08-01

申请号：US16314207

申请日：2017-06-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew Cullen WATERBURY

IPC: A61B34/30 ,  A61B17/34 ,  A61B17/02

CPC classification number: A61B34/30 ,  A61B17/0281 ,  A61B17/3421 ,  A61B2017/3443 ,  A61B2017/3484 ,  A61B2034/302 ,  A61B2090/371

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes cannula devices for use with computer-assisted teleoperated surgery systems. The cannula devices can facilitate enlargement of a minimally invasive surgical workspace by creating a tissue tent. The devices and methods described herein can be used in conjunction with computer-assisted teleoperated surgery systems that use either hardware-constrained remote centers of motion or software-constrained remote centers of motion.

公开(公告)号：US10363109B2

公开(公告)日：2019-07-30

申请号：US15121731

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Tyler J. Morrissette ,  Bruce Michael Schena

IPC: A61B46/27 ,  A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  F16H1/20

Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.

公开(公告)号：US10363107B2

公开(公告)日：2019-07-30

申请号：US15938440

申请日：2018-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Brett J. Lockyer

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/10 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B90/98 ,  A61B17/29 ,  A61B90/00

Abstract: A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

公开(公告)号：US20190222099A1

公开(公告)日：2019-07-18

申请号：US16361095

申请日：2019-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

IPC: H02K11/00 ,  A61B34/30

CPC classification number: H02K11/0094 ,  A61B18/1445 ,  A61B34/30 ,  A61B2017/00725 ,  A61B2018/1455 ,  A61B2090/031 ,  G05B2219/2617 ,  G05B2219/45117 ,  G05B2219/45119

Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.

公开(公告)号：US20190216555A1

公开(公告)日：2019-07-18

申请号：US16331460

申请日：2017-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon Peter DiMaio ,  Nicholas Leo Bernstein ,  Paul Millman ,  Dinesh Rabindran ,  Alec Paul Robertson

IPC: A61B34/30 ,  A61B50/13 ,  A61B90/50 ,  B25J9/16 ,  B25J9/12

CPC classification number: A61B34/30 ,  A61B34/00 ,  A61B50/13 ,  A61B90/03 ,  A61B90/50 ,  A61B2034/2048 ,  A61B2034/2059 ,  B25J9/126 ,  B25J9/1664 ,  B25J9/1689

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient a distal portion of the arm. The robotic system further includes a processor coupled to the powered joint and configured to drive the powered joint to reposition the base while the position and/or orientation of the distal portion of the arm is maintained.

公开(公告)号：US20190216447A1

公开(公告)日：2019-07-18

申请号：US16243535

申请日：2019-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Maxwell J. Bean ,  Larry L. Howell ,  Brian D. Jensen ,  Hannah Rose Lutz ,  Spencer P. Magleby ,  Brandon Scott Sargent

IPC: A61B17/00 ,  A61B17/34

CPC classification number: A61B17/00234 ,  A61B1/3132 ,  A61B17/3421 ,  A61B2017/00336 ,  A61M25/0113 ,  A61M25/0116

Abstract: A deployable tube apparatus may include a spool and a flexible sheet coiled about the spool in a laterally unfurled condition. The flexible sheet may have a first lateral margin and a second lateral margin, and may be deployable from the laterally unfurled condition with the first and the second lateral margins spaced from each other to a deployed tubular condition where the first and the second lateral margins are coupled to each other to form an enclosed lumen. The deployable tube apparatus may provide lateral support to an elongated flexible instrument, such as a catheter. Methods of creating and using the deployable tube apparatus are described.

公开(公告)号：US10342626B2

公开(公告)日：2019-07-09

申请号：US15436407

申请日：2017-02-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Elias Hegeman ,  Lincoln J. Alvord ,  David J. Danitz ,  Cameron D. Hinman

IPC: A61B1/00 ,  A61B34/00 ,  A61B17/29 ,  H04B7/212 ,  A61B17/32 ,  H04M1/725 ,  H04W24/08 ,  A61B17/00 ,  A61B90/50

Abstract: A surgical instrument includes a proximal end and a distal end, a first linking member coupled to a user interface positioned near the proximal end, a second linking member coupled to a clamp tool positioned near the distal end, an elongate shaft extending between the first and second linking members, and at least one cable set extending through the elongate shaft and coupling the first and second linking members such that movement of the first linking member causes corresponding movement in the second linking member. The user interface includes a handle having a first part connected to the first linking member, a second part pivotably connected to the first part, and a rotational element connected to the handle. The first linking member includes a first articulating portion and the second linking member includes a second articulating portion including a plurality of discrete links defining a plurality of lumens.