公开(公告)号：US10675107B2

公开(公告)日：2020-06-09

申请号：US16192475

申请日：2018-11-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger ,  Grant M. Kadokura ,  Andrew C. Waterbury ,  Manuel Ahumada

IPC: A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B34/30 ,  A61B34/20 ,  A61B90/00 ,  A61B34/37

Abstract: A surgical instrument is provided that includes an elongated shaft that includes a proximal end and a distal end; a cantilever beam is disposed at the distal end of the shaft; an optical fiber extends within a channel that extends within between proximal and distal portions of the cantilever beam; a first fiber Bragg grating (FBG) is formed in a segment of the optical fiber within the proximal portion of the beam; a second FBG is formed in a segment of the optical fiber within the distal portion of the beam.

公开(公告)号：US20200046442A1

公开(公告)日：2020-02-13

申请号：US16654731

申请日：2019-10-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers ,  John Ryan Steger

IPC: A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B17/29 ,  A61B46/10

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：US20190223967A1

公开(公告)日：2019-07-25

申请号：US16326851

申请日：2017-10-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/35 ,  A61B90/50

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to amounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

公开(公告)号：US20190192245A1

公开(公告)日：2019-06-27

申请号：US16324037

申请日：2017-09-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  B25J9/16 ,  B25J9/12

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B2017/00398 ,  A61B2017/2927 ,  B25J9/123 ,  B25J9/1689

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

公开(公告)号：US10245069B2

公开(公告)日：2019-04-02

申请号：US14073485

申请日：2013-11-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers ,  Craig R. Gerbi ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/02 ,  A61M25/02 ,  A61B17/34 ,  A61B1/313 ,  A61B1/00 ,  A61B17/00 ,  A61B17/04 ,  A61B17/29 ,  A61M25/00 ,  A61M25/01 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B34/37 ,  A61B90/90 ,  A61B90/92 ,  A61B34/20

Abstract: A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.

公开(公告)号：US20190094084A1

公开(公告)日：2019-03-28

申请号：US16143044

申请日：2018-09-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Charles E. Swinehart ,  John Ryan Steger

IPC: G01L1/02 ,  A61B34/35 ,  A61B17/29

Abstract: A surgical instrument is provided that includes an elongated shaft; an end effector located at the distal end of the shaft includes first and second jaws having opposing working faces and a pivot axis; at least one of the first and second jaws is mounted to rotatably pivot about the pivot axis. A fluid filled sac includes a first bladder portion and a second bladder portion and a tube portion extending between the first and second bladder portions; the first bladder portion is located at a working face of the first jaw; a sensor is operatively coupled to the second bladder portion to produce a sensor signal indicative of fluid pressure within the fluid filled sac.

公开(公告)号：US20190069966A1

公开(公告)日：2019-03-07

申请号：US16072140

申请日：2017-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alan W. Petersen ,  Gerard J. Labonville ,  John Ryan Steger

IPC: A61B34/00 ,  A61B90/00

Abstract: A surgical instrument includes a force sensor apparatus that is immune to noise from arcing cautery without relying on fiber optic strain gauges, and that is autoclabable. The surgical instrument includes a housing, a shaft, the force sensor apparatus, a joint, and an end component. The force sensor apparatus includes at least one strain gauge that is enclosed in a Faraday cage. The Faraday cage includes a sensor capsule that includes one or more strain gauges, a cable shield tube connected to the sensor capsule, and an electronics enclosure connected to the cable shield tube. The sensor capsule is positioned between the joint and the shaft. The cable shield tube extends through the shaft to the electronics enclosure that is within the housing.

公开(公告)号：US09687302B2

公开(公告)日：2017-06-27

申请号：US14149535

申请日：2014-01-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel T. Crews ,  Andrew Crews ,  Edward P. Donlon ,  Craig Gerbi ,  Kenneth L. Gong ,  Karnarnadakala D. Krishnanand ,  Peling Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/00 ,  A61B19/00 ,  A61B17/34 ,  A61B34/30 ,  A61B17/29

CPC classification number: A61B34/30 ,  A61B17/3421 ,  A61B2017/00845 ,  A61B2017/2926 ,  Y10T29/49826

Abstract: A surgical apparatus includes a cannula and a surgical instrument. The cannula includes a curved longitudinal axis along at least a portion of its length. The surgical instrument includes an elongated shaft having a distal end and a proximal end, and an end effector coupled to the distal end of the elongated shaft. At least a portion of the end effector is configured to contact an inner surface of the cannula during insertion of the surgical instrument into the curved cannula. A threshold galling stress between the portion of the end effector and an inner surface of the curved cannula is at least 10,000 pounds per square inch.

公开(公告)号：US20160066937A1

公开(公告)日：2016-03-10

申请号：US14854460

申请日：2015-09-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John Ryan Steger

IPC: A61B17/29 ,  A61B19/00

CPC classification number: A61B17/29 ,  A61B34/30 ,  A61B2017/00314 ,  A61B2017/2908 ,  A61B2034/306

Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.

Abstract translation: 医疗器械包括蛇形手腕结构，还包括：第一关节盘，其具有第一边缘，所述第一边缘具有第一齿槽和第一齿槽，所述第一齿槽沿着所述第一边缘与所述第一齿形齿轮相对; 以及第一支柱，其具有第一槽轴承和第一孔轴承，所述第一孔轴承由第一连接支柱连接，所述第一槽轴承在所述第一齿槽中。

公开(公告)号：US20130276557A1

公开(公告)日：2013-10-24

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: G01B21/22

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。