公开(公告)号：US20190223966A1

公开(公告)日：2019-07-25

申请号：US16317440

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J9/16 ,  B25J13/06

Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

公开(公告)号：US20180353204A1

公开(公告)日：2018-12-13

申请号：US16050033

申请日：2018-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E, Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Thoeodore W, Rogers

IPC: A61B17/34 ,  F16F1/12 ,  A61B34/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61M13/00 ,  A61B17/02 ,  A61B90/98 ,  A61B50/00

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: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US20180153578A1

公开(公告)日：2018-06-07

申请号：US15866158

申请日：2018-01-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Paul E. Lilagan ,  Daniel H. Gomez ,  Giuseppe Maria Prisco

IPC: A61B17/34 ,  A61B1/00 ,  A61B17/00

CPC classification number: A61B17/3421 ,  A61B1/00064 ,  A61B17/3474 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00278 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00323 ,  A61B2017/00362 ,  A61B2017/3445 ,  A61B2017/3466

Abstract: A surgical access port comprises an instrument guide. The instrument guide comprises a proximal end, a distal end, a plurality of instrument guide channels between the proximal and distal ends of the instrument guide, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. A first guide channel of the plurality of instrument guide channels is configured to support a first surgical instrument at a first defined position within the cannula. A second guide channel of the plurality of instrument guide channels is configured to support a second surgical instrument at a second defined position within the cannula. A first guide channel opening is defined along a length of the first guide channel to be open to the outside surface of the instrument guide and to place a portion of the first surgical instrument supported by the first guide channel of the instrument guide adjacent the inner wall surface of the cannula.

公开(公告)号：US09717563B2

公开(公告)日：2017-08-01

申请号：US14748602

申请日：2015-06-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Marc E. Tognaccini ,  Daniel H. Gomez ,  Nicola Diolaiti ,  Tabish Mustufa ,  Probal Mitra ,  Paul E. Liligan

IPC: A61B19/00 ,  A61B34/30 ,  A61B1/018 ,  A61B1/04 ,  A61B34/37 ,  A61B1/00 ,  A61B34/10 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B34/30 ,  A61B1/00183 ,  A61B1/00193 ,  A61B1/018 ,  A61B1/04 ,  A61B34/10 ,  A61B34/20 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/101 ,  A61B2034/102 ,  A61B2034/104 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2090/0811 ,  A61B2090/3762

Abstract: A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations are displayed along with indications of range of motion limitations on a display screen from the perspective of a specified viewing point.

公开(公告)号：US20170129108A1

公开(公告)日：2017-05-11

申请号：US15412657

申请日：2017-01-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  Daniel H. Gomez ,  Probal Mitra ,  Tabish Mustufa

IPC: B25J13/06 ,  B25J13/04 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  B25J9/16 ,  A61B90/00

Abstract: A robotic system has a plurality of user selectable operating modes. To select one of the operating modes, a user performs a distinguishing action which uniquely identifies a desired operating mode among the plurality of user selectable operating modes. A method implemented by a processor in the robotic system identifies the distinguishing action and places the robotic system in the user selected operating mode.

公开(公告)号：US20250160975A1

公开(公告)日：2025-05-22

申请号：US19029205

申请日：2025-01-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/30 ,  A61B17/00 ,  A61B90/00 ,  G16H40/60

Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first 10 instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

公开(公告)号：US12239402B2

公开(公告)日：2025-03-04

申请号：US17444162

申请日：2021-07-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew Cullen Waterbury ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/35 ,  A61B34/00 ,  A61B46/10 ,  B25J5/00 ,  B25J19/00

Abstract: An instrument holder generally includes a carriage rotatable with respect to a carriage support, a light pipe extending axially through the carriage, and an electrical conductor extending through the carriage radially outward of the light pipe. The light pipe can transmit light energy and the electrical conductor can transmit electricity between a proximal end portion and a distal end portion of the carriage to a medical instrument. The rotatable carriage may include a sterile adapter assembly positioned at the proximal and/or distal end portions of the rotatable carriage. The sterile adapter assembly may include a roll disk rotatable with respect to the outer frame, an inner disk rotatable with respect to the roll disk, and a light pipe to transmit light energy through the roll disk. The inner disk can transfer movement of an actuator between the rotatable carriage and the instrument.

公开(公告)号：US12004912B2

公开(公告)日：2024-06-11

申请号：US17053239

申请日：2019-04-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  John Ryan Steger

IPC: A61B90/50 ,  A61B34/00 ,  A61B34/35 ,  A61B90/57

CPC classification number: A61B90/50 ,  A61B34/35 ,  A61B34/70 ,  A61B2090/571

Abstract: A medical device system includes: an auxiliary rail including a frame and a flange extending from the frame; and a surgical arm mounting device including a coupler and a surgical arm interface. The frame is configured to be mounted on a side rail of an operating table. The coupler includes a clamp for the flange of the auxiliary table rail. The clamp of the coupler has a first mechanical state in which the mounting device is fixed to the auxiliary rail and a second mechanical state in which the mounting device is translatable along the auxiliary rail. The surgical arm interface receives a mating mounting device interface of a surgical arm.

公开(公告)号：US11986259B2

公开(公告)日：2024-05-21

申请号：US17649721

申请日：2022-02-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/30 ,  A61B90/00 ,  G16H40/60 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B90/361 ,  G16H40/60 ,  A61B2017/00199 ,  A61B2090/365

Abstract: A computer-assisted medical system includes manipulators, a user input system, a user output system comprising a display device, and a controller configured to execute instructions to perform operations. The operations include, in a pairing mode and in response to a first set of signals generated by the user input system, causing a virtual selector shown on the display device to move relative to an imagery shown on the display device. The operations further include, in the pairing mode, associating a first manipulator with a portion of the user input system based on movement of the virtual selector relative to a represented location of the first instrument, and, in a following mode, controlling motion of the first instrument in accordance to a second set of signals generated by the user input system in response to operation of the portion of the user input system by a user.

公开(公告)号：US11980434B2

公开(公告)日：2024-05-14

申请号：US16971277

申请日：2019-02-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh Rabindran ,  Ryan C. Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B18/12 ,  A61B17/29 ,  A61B17/3201 ,  A61B18/14 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  B25J9/10 ,  B25J9/16 ,  B25J13/08 ,  A61B17/34 ,  A61B18/00 ,  A61B34/30

CPC classification number: A61B34/35 ,  A61B17/2909 ,  A61B17/3201 ,  A61B18/1445 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  B25J9/104 ,  B25J9/1633 ,  B25J9/1641 ,  B25J13/085 ,  A61B17/3421 ,  A61B2018/00595 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.