公开(公告)号：US10307568B2

公开(公告)日：2019-06-04

申请号：US14491509

申请日：2014-09-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers

IPC: A61B1/00 ,  A61M25/00 ,  A61B1/005 ,  A61B17/34 ,  A61B34/00 ,  A61B1/018 ,  A61B17/02 ,  A61B17/062 ,  A61B17/00 ,  A61B17/22

Abstract: A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar elements. As each beam bends, the laminar elements slide longitudinally with reference to one another. Each beam, and accordingly the structure, is stiffened by preventing the laminar elements from sliding longitudinally relative to one another.

公开(公告)号：US20190090960A1

公开(公告)日：2019-03-28

申请号：US16140709

申请日：2018-09-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ian E. McDowall ,  Marc Levesque ,  Theodore W. Rogers

IPC: A61B34/20 ,  A61B90/00 ,  A61B1/00

Abstract: A system for identifying a location of a lumen of a tubular body structure in a patient's body includes a flexible, longitudinally extending probe configured to be inserted through the lumen in the tubular body structure in the patient. A detection system may include an antenna arranged to receive signals from a longitudinally extending detectable portion of the probe. A processing system may process the received signals and identify a longitudinally extending position of the longitudinally extending detectable portion of the probe in a three dimensional reference frame.

公开(公告)号：US10159473B2

公开(公告)日：2018-12-25

申请号：US14929256

申请日：2015-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers

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

Abstract: A surgical device includes a first cable portion that engages a first component such that a first friction exists between the first cable portion and the first component. The surgical device includes a second cable portion having a first end operatively coupled to a first end of the first cable portion. The second cable portion engages a second component such that a second friction exists between the second cable portion and the second component, such that the second friction is greater than the first friction.

公开(公告)号：US20180132957A1

公开(公告)日：2018-05-17

申请号：US15862500

申请日：2018-01-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  John Ryan Steger

IPC: A61B34/00 ,  A61B17/29 ,  A61B90/50

CPC classification number: A61B34/71 ,  A61B17/285 ,  A61B17/29 ,  A61B34/30 ,  A61B46/10 ,  A61B90/50 ,  A61B2017/00477

Abstract: A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.

公开(公告)号：US09883915B2

公开(公告)日：2018-02-06

申请号：US14996863

申请日：2016-01-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  John Ryan Steger

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

CPC classification number: A61B34/71 ,  A61B17/285 ,  A61B17/29 ,  A61B34/30 ,  A61B46/10 ,  A61B90/50 ,  A61B2017/00477

Abstract: A system includes a medical instrument that includes a termination fixture, an actuated element, and drive members coupled to the actuated element and extending to the termination fixture. The termination fixture provides an interface that exposes portions of the drive member to direct movement by an external system that may include a manipulator and a sterile barrier.

公开(公告)号：US20170172672A1

公开(公告)日：2017-06-22

申请号：US15129252

申请日：2015-03-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Theodore W. Rogers ,  Rumen Deyanov ,  Ray Lathrop ,  Gabriel Brisson

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

CPC classification number: A61B34/30 ,  A61B17/29 ,  A61B34/37 ,  A61B34/70 ,  A61B2017/00477 ,  A61B2034/305 ,  B25J9/1669

Abstract: A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.

公开(公告)号：US09011021B2

公开(公告)日：2015-04-21

申请号：US14136596

申请日：2013-12-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  Giuseppe Maria Prisco

IPC: G02B6/36 ,  G01B11/16 ,  G01D5/353 ,  G01D11/24 ,  G01M11/08 ,  A61B19/00 ,  G02B6/02 ,  G02B6/38

CPC classification number: G02B6/38 ,  A61B34/30 ,  A61B2034/2061 ,  B33Y80/00 ,  G01B11/165 ,  G01D5/35303 ,  G01D5/35316 ,  G01D5/35377 ,  G01D11/245 ,  G01M11/083 ,  G02B6/022 ,  G02B6/3616 ,  G02B6/3644 ,  G02B6/3887 ,  Y10T29/49826 ,  Y10T29/49838 ,  Y10T29/49947

Abstract: A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.

Abstract translation: 第一连杆和第二连杆通过联接在第一和第二连杆之间的连接件相对于彼此铰接。 形状感测光纤用于感测第一连杆和第二连杆相对于彼此的位置。 纤维通过具有限定唇缘的开口的通道，并且从第一连接件向接头延伸。 唇缘具有基本上与通道的壁相切的弯曲表面，并且在光纤弯曲期间，光纤被定位成与唇缘的弯曲表面相切。

公开(公告)号：US08945100B2

公开(公告)日：2015-02-03

申请号：US13933944

申请日：2013-07-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers

IPC: A61B17/00 ,  A61M25/00 ,  A61B1/00 ,  A61B1/005 ,  A61B17/34 ,  A61B19/00 ,  A61B1/018 ,  A61B17/02 ,  A61B17/062 ,  A61B17/22

CPC classification number: A61M25/0053 ,  A61B1/00078 ,  A61B1/00193 ,  A61B1/005 ,  A61B1/0051 ,  A61B1/018 ,  A61B17/02 ,  A61B17/062 ,  A61B17/3421 ,  A61B34/70 ,  A61B2017/003 ,  A61B2017/00566 ,  A61B2017/22069 ,  Y10T29/49826

Abstract: A stiffenable structure is made of longitudinal beams that are positioned around a longitudinal axis. In one state, the longitudinal beams are bendable so that the structure is bendable. As the structure bends, the longitudinal beams slide longitudinally with reference to one another. In a second state, the beams are clamped in a fixed position relative to one another so that the structure is stiffened. In some aspects the longitudinal beams are made of two or more longitudinal laminar elements. As each beam bends, the laminar elements slide longitudinally with reference to one another. Each beam, and accordingly the structure, is stiffened by preventing the laminar elements from sliding longitudinally relative to one another.

Abstract translation: 可硬化结构由围绕纵向轴线定位的纵向梁制成。 在一种状态下，纵向梁是可弯曲的，使得该结构是可弯曲的。 当结构弯曲时，纵向梁相对于彼此纵向滑动。 在第二状态下，梁被相对于彼此夹紧在固定位置，使结构变硬。 在一些方面，纵向梁由两个或更多个纵向层流元件制成。 当每个梁弯曲时，层状元件相对于彼此纵向滑动。 通过防止层状元件相对于彼此纵向滑动，每个梁以及相应的结构被加强。

公开(公告)号：US08896847B2

公开(公告)日：2014-11-25

申请号：US13920470

申请日：2013-06-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Guiseppe Maria Prisco ,  Theodore W. Rogers ,  John Ryan Steger

IPC: G01B11/14

CPC classification number: G01B21/22 ,  A61B34/37 ,  A61B34/70 ,  A61B2034/2061 ,  A61B2090/067

Abstract: A shape-sensing segment traverses through at least a portion of a kinematic chain of a tele-operated slave surgical instrument in a tele-operated minimally-invasive surgical system. The shape-sensing segment includes a pre-set perturbation. Shape information from the pre-set perturbation allows determination of relative partial-pose information for at least one link in the kinematic chain.

Abstract translation: 形状感测部分穿过远程操作的微创手术系统中远程操作的从动手术器械的运动链的至少一部分。 形状感测部分包括预设扰动。 来自预设扰动的形状信息允许确定运动链中的至少一个链路的相对部分姿势信息。

公开(公告)号：US20140105534A1

公开(公告)日：2014-04-17

申请号：US14136596

申请日：2013-12-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  Giuseppe Maria Prisco

IPC: G01B11/16

CPC classification number: G02B6/38 ,  A61B34/30 ,  A61B2034/2061 ,  B33Y80/00 ,  G01B11/165 ,  G01D5/35303 ,  G01D5/35316 ,  G01D5/35377 ,  G01D11/245 ,  G01M11/083 ,  G02B6/022 ,  G02B6/3616 ,  G02B6/3644 ,  G02B6/3887 ,  Y10T29/49826 ,  Y10T29/49838 ,  Y10T29/49947

Abstract: A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.

Abstract translation: 第一连杆和第二连杆通过联接在第一和第二连杆之间的连接件相对于彼此铰接。 形状感测光纤用于感测第一连杆和第二连杆相对于彼此的位置。 纤维通过具有限定唇缘的开口的通道，并且从第一连接件向接头延伸。 唇缘具有基本上与通道的壁相切的弯曲表面，并且在光纤弯曲期间，光纤被定位成与唇缘的弯曲表面相切。