公开(公告)号：US20190282233A1

公开(公告)日：2019-09-19

申请号：US16339704

申请日：2017-10-11

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B17/072

Abstract: Stapler cartridges and surgical apparatus that include a stapler cartridge can include a knife that retracts into the stapler cartridge after cutting stapled tissue to prevent an operator being cut by the knife during replacement of the used stapler cartridge with a new stapler cartridge. A stapler cartridge includes a staple pushing shuttle, a knife member slidably coupled with the staple pushing shuttle, and a cartridge body. The staple pushing shuttle is slidably coupled to the cartridge body. The cartridge body includes a guide track engaged by the knife member and configured so that a cutting blade of the knife member protrudes from the cartridge body during a first portion of a distal movement of the staple pushing shuttle and the cutting blade is retracted into the cartridge body during a second portion of the distal movement of the staple pushing shuttle.

公开(公告)号：US20190262088A1

公开(公告)日：2019-08-29

申请号：US16346561

申请日：2017-11-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/35 ,  A61B34/37 ,  A61B17/072

Abstract: A robotic surgical assembly includes a drive assembly and a shaft assembly. The drive assembly is detachably mountable to a surgical robot and includes roll, pitch, and clamp/fire inputs configured to drivingly couple with respective outputs of the surgical robot. The shaft assembly is mounted to the drive assembly and configured to detachably couple with a stapler reload assembly that includes a reload roll shaft, a reload pitch shaft, and a reload clamp/fire shaft. The shaft assembly includes a roll shaft, a pitch shaft, and a clamp/fire shaft. The roll shaft is drivingly coupled with the roll input and configured to detachably couple to the reload roll shaft. The pitch shaft is drivingly coupled with the pitch input and configured to detachably couple to the reload pitch shaft. The clamp/fire shaft is drivingly coupled with the clamp/fire input and configured to detachably couple to the reload clamp/fire shaft.

公开(公告)号：US20190216551A1

公开(公告)日：2019-07-18

申请号：US16238404

申请日：2019-01-02

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

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

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B2017/2927 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2034/715 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

公开(公告)号：US10206748B2

公开(公告)日：2019-02-19

申请号：US14982348

申请日：2015-12-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B34/30 ,  A61B19/00 ,  A61B34/37 ,  A61B17/29 ,  A61B34/00

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

公开(公告)号：US20180318015A1

公开(公告)日：2018-11-08

申请号：US16028888

申请日：2018-07-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

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

CPC classification number: A61B34/10 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00526 ,  A61B2034/305 ,  F16D3/185 ,  F16D3/26 ,  Y10S901/29 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

公开(公告)号：US09763740B2

公开(公告)日：2017-09-19

申请号：US14144510

申请日：2013-12-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC: A61B17/068 ,  A61B34/30 ,  A61B19/00 ,  A61B34/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2017/00477

Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.

公开(公告)号：US20160361049A1

公开(公告)日：2016-12-15

申请号：US15121351

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrrington ,  Craig Tsuji ,  William A. Burbank

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

Abstract: An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

Abstract translation: 仪器无菌适配器（310）连接外科器械（120）和仪器托架（130）。 仪器无菌适配器（310）包括提供接收手术器械（120）的第一表面和接合到仪表板（430）的闩锁板（400）的仪表板（430）。 闩锁板（400）包括用于接收仪器托架（130）和闩锁结构的第二表面。 每个闩锁结构具有延伸远离闩锁板（400）的第二表面的托架锁定臂（410）和连接到托架闩锁臂（410）的器械闩锁臂（405）。 仪器锁定臂（405）延伸穿过仪表板（430）并远离仪表板（430）的第一表面。 连接构件（425）将滑架闩锁臂（410）和仪器闩锁臂（405）柔性地连接到闩锁板（400）的其余部分。 连接构件（425）可以垂直于闩锁臂（405）。 闩锁臂（405）可以接合仪器托架（130）和手术器械（120）中的固定的锁定表面。

公开(公告)号：US20160106429A1

公开(公告)日：2016-04-21

申请号：US14980233

申请日：2015-12-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B17/072 ,  A61B17/285 ,  A61B17/32

CPC classification number: A61B17/072 ,  A61B17/07207 ,  A61B17/285 ,  A61B17/29 ,  A61B17/320016 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B50/10 ,  A61B50/13 ,  A61B50/15 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/07214 ,  A61B2017/2932 ,  A61B2017/2933 ,  A61B2017/2938 ,  A61B2017/2946 ,  A61B2017/2947 ,  A61B2017/320052

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.

Abstract translation: 具有冗余闭合机构的结束执行器以及相关的工具和方法被公开。 所公开的末端效应器在用于微创手术时可能是特别有益的。 示例性手术工具包括具有近端和远端的细长轴，设置在所述轴的远端的工具主体，在夹紧构型和打开构型之间可相对于工具主体移动的钳口，第一致动机构 与钳口耦合并且可操作以在钳位构造和打开构型之间改变钳口相对于工具主体的位置，以及与钳口连接的第二致动机构。 第二致动机构具有第一构造，其中夹爪保持在夹紧构型中，并且第二构造使得夹爪相对于工具主体的位置不被第二致动机构约束。

公开(公告)号：US20150005786A1

公开(公告)日：2015-01-01

申请号：US14485427

申请日：2014-09-12

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. Burbank

IPC: A61B19/00

CPC classification number: A61B34/10 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00526 ,  A61B2034/305 ,  F16D3/185 ,  F16D3/26 ,  Y10S901/29 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

Abstract translation: 公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创手术工具。 细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线 横向于第一轴。 链接的张力构件与附件特征相互作用以铰接手腕。 扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。 驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。