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公开(公告)号：US12082894B2
公开(公告)日：2024-09-10
申请号：US18136749
申请日：2023-04-19
发明人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC分类号： A61B17/072 , A61B34/00 , A61B34/30 , A61B17/00 , A61B17/068 , A61B17/115 , A61B17/29 , H04W84/12
CPC分类号： A61B34/30 , A61B17/07207 , A61B34/71 , A61B2017/00477 , A61B17/068 , A61B17/072 , A61B2017/07214 , A61B17/115 , A61B2017/2902 , A61B2017/2927 , A61B2034/302 , H04W84/12
摘要： Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
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公开(公告)号：US20230404688A1
公开(公告)日：2023-12-21
申请号：US18212604
申请日：2023-06-21
CPC分类号： A61B34/30 , A61B90/98 , A61B34/37 , A61B34/20 , A61B2017/00477
摘要： A medical robotic assembly configured to support, insert, retract, and actuate a surgical instrument. The medical robotic assembly includes a surgical instrument carriage configured for detachably mounting a surgical instrument to the surgical instrument carriage. The surgical instrument carriage includes a motor housing, a first output assembly in the motor housing, a second output assembly in the motor housing, a first sensor assembly configured to sense a rotational orientation of a first output drive coupling, and a second sensor assembly configured to sense a rotational orientation of a second output drive coupling.
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公开(公告)号：US20230372033A1
公开(公告)日：2023-11-23
申请号：US18136749
申请日：2023-04-19
发明人： Gregory W. Dachs, II , Todd E. Murphy , William A. Burbank , William A. McDonald, II , Bruce Michael Schena
IPC分类号： A61B34/30 , A61B34/00 , A61B17/072
CPC分类号： A61B34/30 , A61B34/71 , A61B17/07207 , A61B2017/00477
摘要： Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.
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公开(公告)号：US10912544B2
公开(公告)日：2021-02-09
申请号：US15735082
申请日：2016-06-10
摘要： A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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56.发明申请公开(公告)号：US20200281677A1
公开(公告)日：2020-09-10
申请号：US16748419
申请日：2020-01-21
发明人： Gregory W. Dachs, II , Bruce Michael Schena , Amir H. Chaghajerdi , Niels Smaby , Tyler J. Morrissette
IPC分类号： A61B46/10 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/35 , A61B46/00 , A61B90/98 , A61B17/00
摘要： 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 distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
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公开(公告)号：US20200155130A1
公开(公告)日：2020-05-21
申请号：US16751628
申请日：2020-01-24
摘要： A system comprises an instrument carriage configured to support an instrument. The instrument comprises a joint output and an input coupling configured to move the joint output. The instrument carriage comprises an actuating element. The actuating element comprises a drive input and an actuator coupled to drive the drive input. The drive input is configured to engage the input coupling. The system also comprises a control system configured to drive the drive input with the actuator and determine whether the drive input has engaged the input coupling based on a determination of whether the actuator experiences a resistance greater than a resistance threshold.
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公开(公告)号：US10595836B2
公开(公告)日：2020-03-24
申请号：US15126061
申请日：2015-03-17
摘要： A method comprising receiving an input coupling adjacent to a drive input driven by an actuating element, the input coupling being coupled to a joint output and the joint output being connected to a movable object. The method further comprising rotating the actuating element to drive the drive input and determining, by a control system, whether a resistance torque greater than an inherent drivetrain resistance torque is experienced by the actuating element. The inherent drivetrain resistance torque is for a drivetrain including the input coupling, the drive input, and the joint output. The method also includes determining, by the control system, whether the drive input has engaged the input coupling based on the determination that the resistance torque greater than the inherent drivetrain resistance torque has been experienced by the actuating element.
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公开(公告)号：US10555783B2
公开(公告)日：2020-02-11
申请号：US15263816
申请日：2016-09-13
摘要： 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.
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公开(公告)号：US10292767B2
公开(公告)日：2019-05-21
申请号：US14802758
申请日：2015-07-17
IPC分类号： A61B17/00 , F16D3/26 , A61B34/10 , F16D3/18 , A61B17/064 , A61B17/28 , A61B17/285 , A61B34/00 , A61B34/30 , A61B34/37
摘要： Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.
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