公开(公告)号：US20190314046A1

公开(公告)日：2019-10-17

申请号：US16456148

申请日：2019-06-28

申请人： Intuitive Surgical Operations, Inc.

发明人： S. Christopher Anderson ,  Thomas G. Cooper

IPC分类号： A61B17/28 ,  A61B34/30 ,  A61B34/00

摘要： A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.

公开(公告)号：US10398520B2

公开(公告)日：2019-09-03

申请号：US15963825

申请日：2018-04-26

申请人： Intuitive Surgical Operations, Inc.

发明人： David Q. Larkin ,  Thomas G. Cooper ,  Catherine J. Mohr ,  David J. Rosa

IPC分类号： A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  A61B1/002 ,  A61B1/005 ,  A61B1/018 ,  A61B17/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B5/00 ,  A61B8/12 ,  A61B90/10 ,  A61B90/00

摘要： The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.

公开(公告)号：US10335176B2

公开(公告)日：2019-07-02

申请号：US16121831

申请日：2018-09-05

申请人： Intuitive Surgical Operations, Inc.

发明人： S. Christopher Anderson ,  Thomas G. Cooper

IPC分类号： A61B17/28 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

摘要： A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.

公开(公告)号：US20190167369A1

公开(公告)日：2019-06-06

申请号：US16250059

申请日：2019-01-17

申请人： Intuitive Surgical Operations, Inc.

发明人： Roman L. Devengenzo ,  Thomas G. Cooper ,  Todd R. Solomon

IPC分类号： A61B34/00 ,  A61B1/00 ,  A61B34/30 ,  G16H20/30 ,  B25J9/10 ,  A61B34/37 ,  A61B34/35 ,  G16H40/63

摘要： A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

公开(公告)号：US20180353204A1

公开(公告)日：2018-12-13

申请号：US16050033

申请日：2018-07-31

申请人： INTUITIVE SURGICAL OPERATIONS, INC

发明人： 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分类号： A61B17/34 ,  F16F1/12 ,  A61B34/00 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61M13/00 ,  A61B17/02 ,  A61B90/98 ,  A61B50/00

CPC分类号： 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

摘要： 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：US20180280097A1

公开(公告)日：2018-10-04

申请号：US16000543

申请日：2018-06-05

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Thomas G. Cooper ,  Robert E. Holop

IPC分类号： A61B34/30 ,  A61B17/00

摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US10076348B2

公开(公告)日：2018-09-18

申请号：US14461260

申请日：2014-08-15

申请人： Intuitive Surgical Operations, Inc.

发明人： S. Christopher Anderson ,  Thomas G. Cooper

IPC分类号： A61B17/28 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC分类号： A61B17/28 ,  A61B34/30 ,  A61B34/71 ,  A61B2017/00477

摘要： A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.

公开(公告)号：US10016244B2

公开(公告)日：2018-07-10

申请号：US14911508

申请日：2014-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Thomas G. Cooper ,  Robert E. Holop

IPC分类号： A61B17/00 ,  A61B34/30

CPC分类号： A61B34/30 ,  A61B2017/00477 ,  A61B2034/302

摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

公开(公告)号：US20180153578A1

公开(公告)日：2018-06-07

申请号：US15866158

申请日：2018-01-09

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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

摘要： 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：US20180116735A1

公开(公告)日：2018-05-03

申请号：US15791386

申请日：2017-10-23

申请人： Intuitive Surgical Operations, Inc.

发明人： Michael J. Tierney ,  Thomas G. Cooper ,  Christopher A. Julian ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Robert G. Younge

IPC分类号： G06Q30/02 ,  H01H36/00 ,  A61B17/00 ,  A61B18/14 ,  H01H85/00

CPC分类号： A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  G16H40/63 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

摘要： Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.