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公开(公告)号：US20160256183A1
公开(公告)日：2016-09-08
申请号：US15157308
申请日：2016-05-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper
Abstract: A surgical end effector includes a clevis and two jaws rotatably coupled to the clevis. Each jaw includes a face that is perpendicular to the axis of rotation of the jaw. A rocking pin is pivotally supported by the clevis. The opposite ends of the rocking pin engage the faces of the jaws to constrain the jaws to have opposite motions around the axes of rotation of the jaws. The clevis may be coupled to an elongate shaft with wires extending through the shaft to provide an endoscopic instrument. The jaws may be opened and closed by pushing and pulling on the wires. A wire guide may support the wires in the shaft such that they are able to transmit a compressive force without buckling. The wires may carry electricity to the jaws for electrocautery.
Abstract translation: 手术末端执行器包括U形夹和可旋转地联接到U形夹的两个钳口。 每个钳口包括垂直于钳口旋转轴线的面。 摇摆销由U形夹可枢转地支撑。 摆动销的相对端与钳口的表面接合，以约束钳口以围绕钳口的旋转轴线具有相反的运动。 U形夹可以连接到细长轴，其中丝线延伸穿过轴以提供内窥镜器械。 夹爪可以通过推拉电线来打开和关闭。 线引导件可以支撑轴中的线，使得它们能够传递压缩力而没有弯曲。 电线可以携带电力到钳口进行电烙。
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公开(公告)号：US20160157946A1
公开(公告)日：2016-06-09
申请号：US15043548
申请日：2016-02-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B90/50 , A61B2090/5025 , A61B2090/506 , A61B2090/508 , B25J19/0016 , G02B7/001 , Y10T29/49826 , Y10T74/20311 , Y10T74/2154
Abstract: In one embodiment of the invention, a counter balanced arm is disclosed including, a first link having a first rotating transmission device, a second link having a first rotating transmission device and a compression spring, a third rotating transmission device coupled between the first and second links, and a cable routed over the rotating transmission devices coupled between the second link and the compression spring. The compression spring forms a tension in the cable to counter balance a load applied to an end of the second link of the counter balanced arm.
Abstract translation: 在本发明的一个实施例中，公开了一种平衡臂，包括具有第一旋转传动装置的第一连杆，具有第一旋转传动装置和压缩弹簧的第二连杆，连接在第一和第二传动装置之间的第三旋转传动装置 连杆和连接在第二连杆和压缩弹簧之间的旋转传动装置上的电缆。 压缩弹簧在电缆中形成张力，以平衡施加到反平衡臂的第二连杆的端部的负载。
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公开(公告)号：US09320416B2
公开(公告)日：2016-04-26
申请号：US13754541
申请日：2013-01-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , Anthony K. McGrogan
IPC: A61B19/00 , A61B1/00 , A61B1/002 , A61B1/04 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B17/00 , A61B1/005 , A61B1/018 , 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 or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
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公开(公告)号：US09283049B2
公开(公告)日：2016-03-15
申请号：US14478349
申请日：2014-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola Diolaiti , David Q. Larkin , Thomas G. Cooper , Bruce M. Schena
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
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公开(公告)号：US20160058512A1
公开(公告)日：2016-03-03
申请号：US14478311
申请日：2014-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： DANIEL H. GOMEZ , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Robert Elliot Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers , Todd R. Solomon
IPC: A61B19/00
CPC classification number: A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.
Abstract translation: 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。
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Patent Agency Ranking
公开(公告)号：US20150250546A1
公开(公告)日：2015-09-10
申请号：US14716695
申请日：2015-05-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Q. Larkin , Thomas G. Cooper , Catherine J. Mohr , David J. Rosa
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: 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.
Abstract translation: 手术器械的远端可以独立于远程手术操作的外科系统的其他部件，以全部六个笛卡尔度的自由度移动。 手术器械延伸穿过导管。 远端由远程手动控制的致动器移动。
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公开(公告)号：US09089351B2
公开(公告)日：2015-07-28
申请号：US13739583
申请日：2013-01-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William John Park , S. Christopher Anderson , Thomas G. Cooper , Matthew R. Williams
CPC classification number: A61B19/20 , A61B18/1445 , A61B34/30 , A61B34/35 , A61B46/10 , A61B46/13 , A61B90/04 , A61B2018/00083 , A61B2090/0813
Abstract: A surgical apparatus includes a shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath includes a material that is permeable to gas so as to permit equalization of a pressure differential after insertion of the sheath and shaft into an environment at a surgical insufflation gas pressure. The pressure differential is between an insufflation gas pressure and an initial pressure lower than the insufflation gas pressure.
Abstract translation: 手术装置包括具有近端和远端的轴，连接到轴的远端的端部执行器和设置在仪器轴的外表面上的护套。 护套包括可渗透气体的材料，以便在将鞘和轴插入手术注入气体压力的环境中之后允许压差平衡。 压力差在吹入气体压力和低于吹入气体压力的初始压力之间。
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公开(公告)号：US09068628B2
公开(公告)日：2015-06-30
申请号：US13890233
申请日：2013-05-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Todd R. Solomon , Thomas G. Cooper
CPC classification number: F16H7/20 , A61B34/30 , A61B34/37 , A61B34/71 , A61B90/361 , A61B2017/00845 , A61B2034/305 , A61B2034/715 , B25J9/1045 , B25J18/00 , B25J18/005 , B25J18/007 , Y10S901/21 , Y10T29/49455 , Y10T29/49826 , Y10T74/20305 , Y10T74/20323
Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.
Abstract translation: 在本发明的一个实施例中，提供了包括连杆组件和带传动系的机器臂。 连杆组件包括在第一，第二和第三关节处串联地联接在一起的第一，第二，第三和第四连杆，以限定具有插入轴的平行四边形。 带传动系包括耦合到连杆组件的第一组和第二组皮带。 当联动组件围绕俯仰轴线移动时，第一组皮带确保第三连杆相对于第一连杆保持相同的角度，并且第一和第二组皮带确保第四连杆相对于第二连杆保持相同的角度 链接。
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公开(公告)号：US20150051619A1
公开(公告)日：2015-02-19
申请号：US14461322
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
CPC classification number: A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477 , A61B2034/304 , A61B2034/306
Abstract: A force transmission transmits a force received by two rotational inputs to an output gimbal plate. Two capstans receive the rotational input. The capstans drive cables connected to three levers. A cable is connected directly from each of the capstans to one of two levers. Another cable is connected to both capstans and passes over a pulley rotatably coupled to the third lever. Each of three linkages has a first end coupled to one of the three levers and a second end coupled to the output gimbal plate. Rotation of each of the first and the second input capstans causes the three cables to move the three levers such that there is no net movement of the three seconds ends of the linkages with respect to the center of motion of the output gimbal plate. The output gimbal plate may orient a mechanically actuated surgical tool.
Abstract translation: 力传递将由两个旋转输入接收的力传递到输出万向板。 两个绞盘接受旋转输入。 绞盘驱动连接到三个杠杆的电缆。 电缆直接从每个绞盘连接到两个杠杆中的一个。 另一个电缆连接到两个绞盘并通过可旋转地联接到第三杠杆的皮带轮上。 三个连杆中的每一个具有联接到三个杠杆中的一个的第一端和联接到输出万向板的第二端。 第一和第二输入绞盘中的每一个的旋转导致三根电缆移动三个杠杆，使得连杆的三秒端部相对于输出万向板的运动中心没有净运动。 输出万向板可以定向机械致动的外科手术工具。
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公开(公告)号：US20150047454A1
公开(公告)日：2015-02-19
申请号：US14461320
申请日：2014-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Thomas G. Cooper , S. Christopher Anderson
Abstract: A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. A first gimbal support point is supported by a first lever having a fulcrum with one degree of rotational freedom. Second and third gimbal support points may be supported by second and third levers having fulcrums with two degrees of rotational freedom. These fulcrums may include a first axle coupled to the lever and a second axle that supports the first axle and provides the fulcrum for the supported lever. A spring may draw the second and third levers toward one another. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.
Abstract translation: 力传递将由三个杠杆接收的力传递到具有三个支撑点的输入万向板。 输入的万向节游戏又可以将力传递到联接到外科手术工具的手腕组件。 第一个万向节支撑点由具有一个旋转自由度的支点的第一杠杆支撑。 第二和第三万向支撑点可以由具有两个旋转自由度的支点的第二和第三杠杆支撑。 这些支点可以包括联接到杠杆的第一轴和支撑第一轴并提供支撑杆的支点的第二轴。 弹簧可以将第二和第三杠杆相互拉近。 力传递可以包括平行四边形连杆，其包括枢转地联接到第一杠杆并具有支撑第一万向架支撑点的平坦表面的摇臂连杆。
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