公开(公告)号：US20230285692A1

公开(公告)日：2023-09-14

申请号：US18093284

申请日：2023-01-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey ,  William A. Burbank ,  Robert C. Reid ,  Nathan A. Venskytis

IPC: A61M13/00 ,  A61B34/37

CPC classification number: A61M13/003 ,  A61B34/37 ,  A61B17/0293

Abstract: A medical device can include a housing, a first seal structure, and a seal expander. The first seal structure can have a proximal end and a distal end, and a side wall surrounding and defining an interior chamber. A seal wall can be connected to the side wall and include an expandable opening. A seal expander can be coupled to the housing, and can be at least partially in the interior chamber of the first seal structure. The seal expander can include an expandable neck portion and a seal interface portion, the seal interface portion being near an intersection of the side wall and the seal wall.

公开(公告)号：US11666374B2

公开(公告)日：2023-06-06

申请号：US16727468

申请日：2019-12-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B18/14 ,  A61B34/00 ,  A61B17/32 ,  A61B17/00 ,  A61B17/29 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B18/1445 ,  A61B34/71 ,  A61B17/32 ,  A61B34/30 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/2927 ,  A61B2017/2945 ,  A61B2018/00345 ,  A61B2018/00404 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00619 ,  A61B2018/146 ,  A61B2018/1432 ,  A61B2034/305

Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

公开(公告)号：US20220280250A1

公开(公告)日：2022-09-08

申请号：US17699687

申请日：2022-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35

Abstract: Surgical tools include an end effector mounted to an instrument shaft for articulation relative to the instrument shaft. A surgical tool includes an instrument shaft, an intermediate member pivotally coupled to the instrument shaft, an end effector and four tension members. The end effector includes an end effector base that is pivotally coupled to the intermediate member. The end effector base includes four attachment features. Each of the four tension members interfaces with an associated one of the four attachment features. The four tension members extend distally within a lumen of the instrument shaft and are arranged in diagonally opposed pairs.

公开(公告)号：US11185380B2

公开(公告)日：2021-11-30

申请号：US15568356

申请日：2016-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank ,  Gregory W. Dachs, II ,  Bruce M. Schena

IPC: A61B34/00 ,  B25J9/10 ,  A61B34/35 ,  A61B34/30

Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.

公开(公告)号：US20210338332A1

公开(公告)日：2021-11-04

申请号：US17374014

申请日：2021-07-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/10 ,  F16D3/26 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  F16D3/18 ,  A61B17/00 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285

Abstract: Surgical tools that include a mechanisms for transmitting torque through an angle are disclosed. A surgical tool includes an instrument shaft, a drive shaft, an end effector, a driven shaft, and a coupling member. The instrument shaft is elongated along an instrument shaft axis. The drive shaft is mounted to the instrument shaft for rotation about a drive shaft axis. The end effector is coupled with the instrument shaft so that an orientation of the end effector can be varied relative to the instrument shaft. The driven shaft is coupled with the end effector to articulate a feature of the end effector via rotation of the driven shaft relative to the end effector. The coupling member couples the drive shaft with the driven shaft so that a rate of rotation of the drive shaft and a rate of rotation of the driven shaft about a driven shaft axis are equal.

公开(公告)号：US20210236747A1

公开(公告)日：2021-08-05

申请号：US17224017

申请日：2021-04-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey ,  William A. Burbank ,  Robert C. Reid ,  Nathan A. Venskytis

IPC: A61M13/00 ,  A61B34/37

Abstract: A medical device can include a housing, a first seal structure, and a seal expander. The first seal structure can have a proximal end and a distal end, and a side wall surrounding and defining an interior chamber. A seal wall can be connected to the side wall and include an expandable opening. A seal expander can be coupled to the housing, and can be at least partially in the interior chamber of the first seal structure. The seal expander can include an expandable neck portion and a seal interface portion, the seal interface portion being near an intersection of the side wall and the seal wall.

公开(公告)号：US11039835B2

公开(公告)日：2021-06-22

申请号：US16333924

申请日：2017-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew A. Wixey ,  William A. Burbank ,  Nicholas H. Ragosta

IPC: A61B17/072 ,  A61B34/30 ,  A61B34/35 ,  F16H25/24 ,  A61B17/00 ,  A61B17/068 ,  A61B17/11 ,  A61B34/00 ,  F16H25/20

Abstract: A medical device drive system including a lever body having portions defining a lever body cavity, a nut housing in the lever body cavity, and a first nut at least partially in the first nut cavity. The first nut is slideable in the first nut cavity between an engaged position in which the lead screw interface is engaged with the engagement portion of the lead screw, and a disengaged position in which the lead screw interface is not engaged with the engagement portion of the lead screw. The lead screw interface of the first nut is selectively engageable with the engagement portion of the lead screw by sliding the lever body and pin relative to the first nut housing.

公开(公告)号：US10973519B2

公开(公告)日：2021-04-13

申请号：US16072356

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Gabriel F. Brisson ,  William A. Burbank ,  Amir Chaghajerdi ,  Patrick Flanagan ,  Pushkar Hingwe ,  Andrew Wilson ,  Donald F. Wilson, Jr. ,  Matthew A. Wixey

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B34/30 ,  A61B90/00 ,  A61B34/20

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

公开(公告)号：US20210022813A1

公开(公告)日：2021-01-28

申请号：US17069606

申请日：2020-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35

Abstract: Surgical tools include an end effector mounted to an instrument shaft for articulation relative to the instrument shaft. A surgical tool includes an instrument shaft, an intermediate member pivotally coupled to the instrument shaft, an end effector and four tension members. The end effector includes an end effector base that is pivotally coupled to the intermediate member. The end effector base includes four attachment features. Each of the four tension members interfaces with an associated one of the four attachment features. The four tension members extend distally within a lumen of the instrument shaft and are arranged in diagonally opposed pairs.

公开(公告)号：US10898188B2

公开(公告)日：2021-01-26

申请号：US16141663

申请日：2018-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B17/072 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B17/29 ,  A61B17/285 ,  A61B17/32 ,  A61B17/00 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15

Abstract: End effectors with redundant closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises an elongate shaft having a proximal end and a distal end, a tool body disposed at the distal end of the shaft, a jaw movable relative to the tool body between a clamped configuration and an open configuration, a first actuation mechanism coupled with the jaw and operable to vary the position of the jaw relative to the tool body between the clamped configuration and the open configuration, and a second actuation mechanism coupled with the jaw. The second actuation mechanism has a first configuration where the jaw is held in the clamped configuration and a second configuration where the position of the jaw relative to the tool body is unconstrained by the second actuation mechanism.