公开(公告)号：US10448813B2

公开(公告)日：2019-10-22

申请号：US14943216

申请日：2015-11-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/018 ,  A61B1/002 ,  A61B1/04 ,  A61B1/06 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B17/00 ,  A61B90/10 ,  A61B34/00 ,  A61B34/20 ,  A61B1/005 ,  A61B17/34 ,  A61B90/00

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US10398520B2

公开(公告)日：2019-09-03

申请号：US15963825

申请日：2018-04-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B1/002 ,  A61B1/005 ,  A61B1/018 ,  A61B17/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B5/00 ,  A61B8/12 ,  A61B90/10 ,  A61B90/00

Abstract: The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

公开(公告)号：US20170156806A1

公开(公告)日：2017-06-08

申请号：US15431752

申请日：2017-02-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David J. Rosa

IPC: A61B34/37 ,  B25J9/16 ,  B25J3/04 ,  A61B34/35 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/741 ,  A61B2034/742 ,  A61B2034/744 ,  A61B2090/065 ,  B25J3/04 ,  B25J9/1674 ,  B25J9/1689

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

公开(公告)号：US09510734B2

公开(公告)日：2016-12-06

申请号：US14173681

申请日：2014-02-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  David Q. Larkin ,  Matthew R. Williams ,  Eugene F. Duval

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B17/00 ,  A61B1/018 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/05 ,  A61B1/005 ,  A61B17/34

CPC classification number: A61B1/00149 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/002 ,  A61B1/0055 ,  A61B1/018 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B5/0086 ,  A61B8/12 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00314 ,  A61B2017/00323 ,  A61B2017/0034 ,  A61B2017/3447 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306

Abstract: Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical instruments and the guide tube are telemanipulatively controlled.

Abstract translation: 两个手术器械通过导管插入。 手术器械在引导管的中间位置处离开，并且当它们离开时被定向成基本上平行于引导管的纵向轴线。 立体图像捕获部件位于导管之间的中间位置和导管的远端之间。 图像捕获部件的视场大致垂直于导管的纵轴。 手术器械和引导管被远程手术控制。

公开(公告)号：US20140195048A1

公开(公告)日：2014-07-10

申请号：US14163197

申请日：2014-01-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Frederic H. Moll ,  David J. Rosa ,  Andris D. Ramans ,  Steven J. Blumenkranz ,  Gary S. Guthart ,  Gunter D. Niemeyer ,  William C. Nowlin ,  J. Kenneth Salisbury, JR. ,  Michael J. Tierney

IPC: A61B19/00

CPC classification number: A61B19/2203 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2090/506 ,  G06F19/00 ,  G09B23/285

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

Abstract translation: 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。

公开(公告)号：US20140018824A1

公开(公告)日：2014-01-16

申请号：US14029592

申请日：2013-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher A. Julian ,  Daniel T. Wallace ,  Frederick H. Moll ,  Dean F. Hoornaert ,  David J. Rosa ,  John G. Freund ,  John W. Hill

IPC: A61B19/00 ,  A61B18/18

CPC classification number: A61B18/18 ,  A61B1/00149 ,  A61B17/00234 ,  A61B17/0218 ,  A61B17/0469 ,  A61B17/06061 ,  A61B17/062 ,  A61B17/064 ,  A61B17/068 ,  A61B17/11 ,  A61B17/1285 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/32053 ,  A61B17/54 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00252 ,  A61B2017/00287 ,  A61B2017/00362 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/0243 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2825 ,  A61B2017/2829 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2931 ,  A61B2017/2937 ,  A61B2017/294 ,  A61B2017/2946 ,  A61B2034/305 ,  B66C23/48

Abstract: Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.

Abstract translation: 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

公开(公告)号：US20130096576A1

公开(公告)日：2013-04-18

申请号：US13706738

申请日：2012-12-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/17 ,  Y10S901/18

Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

Abstract translation: 机器人手术系统包括安装基座，多个外科器械和关节支撑组件。 每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。 铰接支撑组件相对于基座可移动地支撑仪器。 支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。