公开(公告)号：US20200093548A1

公开(公告)日：2020-03-26

申请号：US16678728

申请日：2019-11-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Stephen J. Blumenkranz ,  Vincent Duindam ,  Mark Froggatt ,  Eric Sanborn

IPC: A61B34/20 ,  G02B23/26 ,  G02B6/36 ,  A61B5/06 ,  A61B1/005 ,  A61B1/07

Abstract: A flexible tool includes an optical fiber including a proximal end, a distal end, an intermediate portion between the proximal end and the distal end and an adjustable bend between the proximal end and the intermediate portion. The intermediate portion may be constrained to have a single degree of freedom that is translational substantially along an axis defined by the optical fiber at the intermediate portion. The adjustable bend may be enclosed with a housing that provides space within the housing for the adjustable bend to adjust. The optical fiber may be used to provide shape sensing of the flexible tool.

公开(公告)号：US20200008655A1

公开(公告)日：2020-01-09

申请号：US16509177

申请日：2019-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/018 ,  A61B1/005

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

公开(公告)号：US10383700B2

公开(公告)日：2019-08-20

申请号：US15859923

申请日：2018-01-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz

IPC: A61B90/70 ,  A61B34/30 ,  B08B9/00 ,  A61B17/00 ,  A61B90/00

Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.

公开(公告)号：US10363107B2

公开(公告)日：2019-07-30

申请号：US15938440

申请日：2018-03-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Brett J. Lockyer

IPC: A61B17/00 ,  A61B34/30 ,  A61B90/10 ,  A61B34/00 ,  A61B34/37 ,  A61B34/35 ,  A61B90/98 ,  A61B17/29 ,  A61B90/00

Abstract: A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

公开(公告)号：US20190175289A1

公开(公告)日：2019-06-13

申请号：US16272791

申请日：2019-02-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

IPC: A61B34/30 ,  A61B17/02 ,  A61B17/34 ,  A61M39/06

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

公开(公告)号：US10238458B2

公开(公告)日：2019-03-26

申请号：US15992030

申请日：2018-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

IPC: A61B34/30 ,  A61B17/34 ,  A61B17/02 ,  A61M39/06

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

公开(公告)号：US20180303328A1

公开(公告)日：2018-10-25

申请号：US16021326

申请日：2018-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Anoop B. Kowshik ,  Stephen J. Blumenkranz ,  Christopher B. Allenby

IPC: A61B1/12 ,  A61B17/00 ,  A61M13/00

CPC classification number: A61B1/126 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00091 ,  A61B1/00154 ,  A61B1/015 ,  A61B1/04 ,  A61B17/00234 ,  A61B34/30 ,  A61M1/008 ,  A61M3/0279 ,  A61M13/003 ,  A61M2202/0225

Abstract: A method of operating an anatomical probe system comprises providing an elongated flexible body including a channel and providing an operational component extending within the channel of the flexible body. The method also comprises providing a support member at a distal end of the flexible body. The support member includes a fluid director. The method also includes conveying fluid through the channel and into contact with the fluid director to direct the fluid toward the operational component.

公开(公告)号：US09968405B2

公开(公告)日：2018-05-15

申请号：US14271763

申请日：2014-05-07

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B19/00 ,  A61B90/10 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/50 ,  A61B90/00

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.

公开(公告)号：US20180031600A1

公开(公告)日：2018-02-01

申请号：US15727241

申请日：2017-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Lawton N. Verner

IPC: G01P15/093 ,  G02B6/34 ,  G01L1/22

CPC classification number: G01P15/093 ,  G01L1/2225 ,  G02B6/34

Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.

公开(公告)号：US09855102B2

公开(公告)日：2018-01-02

申请号：US14032491

申请日：2013-09-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz

IPC: A61B19/00 ,  G01L1/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064 ,  G01L1/00

Abstract: A force sensor apparatus includes a tube portion having a plurality of radial ribs and at least one fiber optic strain gauge positioned over each of the plurality of radial ribs. The strain gauges comprise a negative thermo-optic coefficient optical fiber material. A proximal end of the tube portion is operably couplable to a shaft of a surgical instrument and a distal end of the tube portion is proximally couplable to a wrist joint. Optionally, a thermal shunt shell is over an outer surface of the tube portion. Adjacent fiber optic strain gauges with differing thermal responses are used to solve simultaneous equations in strain and temperature to derive strain while rejecting thermal effects.