公开(公告)号：US10271912B2

公开(公告)日：2019-04-30

申请号：US15258049

申请日：2016-09-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Paul E. Lilagan

IPC: A61B34/30 ,  A61B34/00 ,  B25J13/02 ,  A61B1/00 ,  A61B34/37 ,  A61B17/00 ,  B25J19/02 ,  A61B17/34 ,  A61B34/20 ,  A61B90/00

Abstract: A medical robotic system includes articulated instruments extending out of a distal end of an entry guide. Prior to pivoting the entry guide to re-orient it and the instruments, the instruments are moved in tandem back towards the entry guide after a delay. Haptic cues and velocity limits are provided to assist the operator in the retraction of the instruments. After retraction, the entry guide may then be pivoted without concern that the instruments will harm patient anatomy. The movement of the instruments in tandem back towards the entry guide may also occur through coupled control modes while the entry guide is held in a fixed position and orientation.

公开(公告)号：US10265057B2

公开(公告)日：2019-04-23

申请号：US14909976

申请日：2014-08-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peter M. Herzlinger ,  Govinda Payyavula ,  Brian E. Miller

IPC: A61B17/00 ,  G06F3/01 ,  A61B34/30 ,  A61B34/37 ,  A61B1/00 ,  A61B34/00 ,  A61B90/60 ,  A61B90/50

Abstract: Control of the endoscope in a surgical system is described. In some embodiments, the endoscope can be controlled by movement of the surgeon's head or face at a surgeon's console. In some embodiments, the endoscope can be controlled using sensors integrated with a surgeon's headrest mounted on the surgeon's console.

公开(公告)号：US10251717B2

公开(公告)日：2019-04-09

申请号：US14814851

申请日：2015-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

IPC: A61B34/37 ,  B25J19/00 ,  B25J17/02

Abstract: A surgical system includes methods and systems for damping vibrations. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.

公开(公告)号：US10238458B2

公开(公告)日：2019-03-26

申请号：US15992030

申请日：2018-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

IPC: A61B34/30 ,  A61B17/34 ,  A61B17/02 ,  A61M39/06

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

公开(公告)号：US20190083185A1

公开(公告)日：2019-03-21

申请号：US16194149

申请日：2018-11-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/35 ,  A61B34/30 ,  A61B90/00 ,  A61B34/00 ,  A61B34/37

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.

公开(公告)号：US20190076204A1

公开(公告)日：2019-03-14

申请号：US16126102

申请日：2018-09-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alec Paul Robertson ,  Simon Peter DiMaio ,  Kollin Myles Tierling ,  Theodore W. Rogers

IPC: A61B46/10 ,  A61B34/35 ,  A61B17/29

Abstract: A surgical system drape includes: a sheath having an interior cavity sized to cover a portion of a surgical system manipulator; an adaptor coupled to the sheath and including a manipulator interface and an instrument interface, the manipulator interface configured to couple with a drive interface of the manipulator, the instrument interface being configured to couple with a drive interface of a surgical instrument mounted to the manipulator; and a fluid conduit coupled to the sheath and extending within the interior cavity of the sheath, the fluid conduit configured to receive a flow of cooling fluid at a fluid port and convey the fluid along the interior cavity of the sheath to cool a component of a portion of the manipulator.

公开(公告)号：US20190076142A1

公开(公告)日：2019-03-14

申请号：US15772528

申请日：2016-10-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/37

CPC classification number: A61B17/07207 ,  A61B17/068 ,  A61B34/37 ,  A61B2017/07228 ,  A61B2017/07278 ,  A61B2034/302

Abstract: A drive shuttle is provided that includes a leader ramp mount that includes a longitudinal first axis; a first leader ramp that depends from (i.e. that physically couples to) a first side of the leader ramp mount; a pusher protrusion that depends from a second side of the leader ramp mount; a follower ramp mount; a follower protrusion that depends from the follower ramp mount; a first follower ramp that depends from the follower protrusion; wherein the first leader ramp, the pusher protrusion, the first follower ramp and the follower protrusion are disposed in relation to each another such that, in the first configuration, the pusher protrusion is spaced apart longitudinally from the follower protrusion by an offset amount and the first leader ramp is aligned longitudinally with the first follower ramp; and in the second configuration, the pusher protrusion contacts the follower protrusion and the first leader ramp is spaced apart longitudinally from the first follower ramp by the offset amount.

公开(公告)号：US20190069763A1

公开(公告)日：2019-03-07

申请号：US16123309

申请日：2018-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. JULIAN ,  Amir BELSON ,  Aaron W. BROWN ,  Mark HARASYM ,  Marc S. KREIDLER ,  Robert M. OHLINE ,  Scott J. REINER ,  Enrique ROMO ,  Charles E. SWINEHART ,  Katherine WHITIN

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/005 ,  A61B1/31 ,  A61B17/00

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US10213268B2

公开(公告)日：2019-02-26

申请号：US14660834

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II

IPC: A61B5/00 ,  A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  F16H1/20

Abstract: A surgical instrument includes a proximal control mechanism having an instrument control surface. The instrument control surface has two openings through which two resilient latch arms can be inserted to engage a fixed latch structure contained within the proximal control mechanism. The fixed latch structure provides two lead-in ramps that force the resilient latch arms onto locking surfaces. The resilient latch arms are contained entirely within the proximal control mechanism when engaged. Inward forces can be applied to two buttons to apply an outward force on the resilient latch arms and release them from the locking surfaces of the fixed latch structure. Each of the two buttons is accessible from one of two opposite outside surfaces of the proximal control mechanism.

公开(公告)号：US10213202B2

公开(公告)日：2019-02-26

申请号：US15194771

申请日：2016-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick Flanagan ,  David Weir

IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

Abstract: A method of controlling a surgical stapler system includes transmitting an actuation force to a staple cartridge to actuate a staple firing procedure, the staple cartridge being removably received by a portion of an end effector of a surgical instrument, measuring the transmitted actuation force, and controlling continued transmission of the actuation force based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum threshold actuation force.