公开(公告)号：US20200146763A1

公开(公告)日：2020-05-14

申请号：US16742008

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

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

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

公开(公告)号：US20200146759A1

公开(公告)日：2020-05-14

申请号：US16741917

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

IPC: A61B34/30 ,  A61B34/37 ,  F16M11/20

Abstract: A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.

公开(公告)号：US20190328468A1

公开(公告)日：2019-10-31

申请号：US16508526

申请日：2019-07-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger

IPC: A61B34/30 ,  A61B34/37

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.

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：US20170258534A1

公开(公告)日：2017-09-14

申请号：US15605879

申请日：2017-05-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

IPC: A61B34/30 ,  A61B34/37 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

公开(公告)号：US09687312B2

公开(公告)日：2017-06-27

申请号：US15121723

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: G08B21/00 ,  A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  F16H1/20

CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first proximal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a distal end of the detection pin. A carriage controller provides an indication that the surgical instrument is coupled to the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than an instrument removal threshold value of less than the instrument threshold value.

公开(公告)号：US20170095304A1

公开(公告)日：2017-04-06

申请号：US15359405

申请日：2016-11-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  A61B1/00 ,  B25J9/16 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US20160374769A1

公开(公告)日：2016-12-29

申请号：US15263816

申请日：2016-09-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Gregory W. Dachs, II ,  Todd Solomon

IPC: A61B34/30 ,  A61B34/20 ,  A61B90/98 ,  A61B34/37

Abstract: A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, a plurality of gear boxes, and a plurality of output drive couplings driven by the gear boxes. The robotic assembly includes a sensor assembly that includes an orientation sensor, a sensor target, and a sensor shaft drivingly coupling the sensor target to a corresponding one of the output drive couplings.

Abstract translation: 机器人组件被配置为支撑，插入，缩回和致动安装到机器人组件的外科器械。 机器人组件包括仪器保持器基座构件，可移动地安装到仪器保持器基座构件的马达壳体，可操作以沿着仪器保持器基座部件平移马达壳体的托架驱动机构，多个驱动马达，多个齿轮箱 以及由齿轮箱驱动的多个输出驱动联轴器。 机器人组件包括传感器组件，其包括定向传感器，传感器目标和驱动地将传感器目标耦合到输出驱动联接器中的相应一个的传感器轴。

公开(公告)号：US09517106B2

公开(公告)日：2016-12-13

申请号：US13906767

申请日：2013-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: G06F19/00 ,  A61B19/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/74 ,  A61B2034/742 ,  B25J9/1607 ,  Y10S901/15

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

Abstract translation: 通过在操纵臂的运动学雅可比的零空间内移动操纵器来重新配置外科手术器械的装置，系统和方法。 在一个方面，响应于接收到重新配置命令，系统驱动第一组关节并且计算多个关节的速度在零空间内。 根据重新配置命令和计算的运动来驱动关节，以便保持末端执行器或仪器轴枢转的远程中心的期望状态。 在另一方面，接头还根据计算的末端执行器或雅可比的零垂直空间内的远程中心移动速度被驱动，以便与末端执行器或远程中心的所需运动同时实现期望的重新配置。

公开(公告)号：US09439732B2

公开(公告)日：2016-09-13

申请号：US13960644

申请日：2013-08-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Thomas G. Cooper ,  Joseph P. Orban, III ,  Bruce Michael Schena ,  Alan E. Loh ,  S. Christopher Anderson

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B90/00 ,  Y10S901/27 ,  Y10S901/41

Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.