公开(公告)号：US11490977B2

公开(公告)日：2022-11-08

申请号：US16742008

申请日：2020-01-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00

Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.

公开(公告)号：US10973598B2

公开(公告)日：2021-04-13

申请号：US16178242

申请日：2018-11-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B17/00

Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.

公开(公告)号：US10537400B2

公开(公告)日：2020-01-21

申请号：US16102225

申请日：2018-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

公开(公告)号：US20190380803A1

公开(公告)日：2019-12-19

申请号：US16524832

申请日：2019-07-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Tyler J. Morrissette ,  Bruce Michael Schena

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00

Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes bottom and top plates located on opposite sides of the plastic sheet plate and joined together. A passage in the bottom plate allows an instrument carriage flux connection to pass through the plastic sheet and the bottom plate to be adjacent to the top plate. The top plate includes a signal transmission area that will be adjacent to an upper surface of the flux connection of the instrument carriage. A flux connector may close an opening in the signal transmission area of the top plate and provide a path for an electrical or optical signal. The signal transmission area of the top plate may be thinned to allow an RFID sensor to be closer to an RFID device in a surgical instrument attached to the instrument sterile adapter.

公开(公告)号：US20190274767A2

公开(公告)日：2019-09-12

申请号：US15121718

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Niels Smaby ,  Gregory W. Dachs, II

IPC: A61B34/35 ,  A61B34/37 ,  A61B90/00

Abstract: A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.

公开(公告)号：US20190069965A1

公开(公告)日：2019-03-07

申请号：US16178242

申请日：2018-11-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

Abstract: A manipulator for articulating a surgical tool during surgery includes an instrument holder, a parallelogram linkage assembly, an offset extension link, a yaw joint, and a mounting base. The instrument holder is configured to couple with the surgical tool. The parallelogram linkage assembly produces motion of the instrument holder that is limited to rotation about a pitch axis that intersects a remote center of manipulation. The offset extension link has an offset extension link distal end and an offset extension link proximal end. The yaw joint is connected to the offset extension link proximal end and produces motion of the instrument holder that is limited to rotation about a yaw axis that intersects the remote center of manipulation. The offset extension link distal end is offset from the yaw axis. The mounting base is coupled with the yaw joint.

公开(公告)号：US20180344419A1

公开(公告)日：2018-12-06

申请号：US16102225

申请日：2018-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B17/00 ,  A61B90/98 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

公开(公告)号：US10143525B2

公开(公告)日：2018-12-04

申请号：US15058914

申请日：2016-03-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Roman L. Devengenzo ,  Gary C. Ettinger ,  Eugene F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez

IPC: A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B17/00

Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.

公开(公告)号：US10045828B2

公开(公告)日：2018-08-14

申请号：US15619325

申请日：2017-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: G08B21/00 ,  A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B90/98 ,  A61B34/35 ,  A61B46/00 ,  A61B34/37 ,  A61B17/00 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.

公开(公告)号：US20170273752A1

公开(公告)日：2017-09-28

申请号：US15619325

申请日：2017-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B17/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  F16H1/20

CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.