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：US20160361131A1

公开(公告)日：2016-12-15

申请号：US15121374

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B90/00 ,  A61B34/35

CPC classification number: A61B34/30 ,  A61B2017/00477 ,  A61B2090/0813

Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

Abstract translation: 用于联接外科器械和外科器械操纵器的无菌适配器包括底部部件和联接部件。 底部部件包括具有带有锁定机构的底部唇部的底部部件开口。 联接部件可旋转地联接到底部部件。 联接部件包括接合外科器械操纵器的接合特征。 联接部件还包括当接合特征未接合外科器械操纵器时与锁定机构接合的锁定机构开口。 联接部件可以包括与键槽对准的保持突片，以将联接部件插入底部部件开口中，然后与键槽不对准，以将联接部件保持在底部部件开口中。 斜槽可以设置在口袋的前缘上，以便于使联接部件与手术器械操纵器接合。

公开(公告)号：US20160361126A1

公开(公告)日：2016-12-15

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 ,  A61B90/00 ,  A61B34/37

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.

Abstract translation: 远程手术系统具有仪器操纵器，其包括第一滑架驱动器和第二滑架驱动器，每个驱动器提供独立的旋转运动。 每个滑架驱动器包括第一接合特征。 手术器械包括两个仪器驱动器，每个仪器驱动器从两个滑架驱动器之一接收旋转运动。 每个仪器驱动器包括第二接合特征，其接合第一接合特征以将滑架驱动器正向联接到仪器驱动器。 仪器驱动器旋转耦合在一起。 操纵器控制器控制两个滑架驱动器的旋转，并且向第二滑架驱动器施加与第一滑架驱动器的旋转相反的运动，直到第一接合特征积极地接合第二接合特征。 手术器械可以包括能够无限旋转的器械轴。 仪器驱动器可以旋转地联接到仪器轴。

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：US20160354173A1

公开(公告)日：2016-12-08

申请号：US15121726

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B46/10 ,  A61B34/37 ,  A61B90/00 ,  A61B34/30

Abstract: An instrument sterile drape includes a plastic sheet and an instrument sterile adapter (ISA) coupled to the plastic sheet. The ISA includes a bottom plate located on a first side of the plastic sheet and a top plate located on a second side of the plastic sheet and joined to the bottom plate. The bottom plate includes a mounting surface that provides a first datum plane for mounting the ISA on a carriage that includes actuators and a plurality of landing pads that extend through the top plate to provide a second datum plane for a surgical instrument coupled to the ISA such that a distance between the carriage and the surgical instrument is controlled only by the bottom plate. The instrument sterile drape may include a pouch shaped to fit around the carriage with the ISA capturing the pouch between the top and bottom plates.

Abstract translation: 仪器无菌悬垂包括塑料片和耦合到塑料片的仪器无菌适配器（ISA）。 ISA包括位于塑料片的第一侧上的底板和位于塑料片的第二侧上并接合到底板的顶板。 底板包括安装表面，其提供用于将ISA安装在滑架上的第一基准平面，滑架包括致动器和多个着陆垫，其延伸穿过顶板以为耦合到ISA的外科器械提供第二基准平面， 滑架和手术器械之间的距离仅由底板控制。 仪器无菌悬垂可以包括形状适合于托架周围的小袋，其中ISA在顶板和底板之间捕获袋。

公开(公告)号：US20160278871A1

公开(公告)日：2016-09-29

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: A61B34/37 ,  A61B34/00

CPC classification number: A61B34/37 ,  A61B34/30 ,  A61B34/70 ,  A61B2017/00477 ,  A61B2034/305

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.

Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。

公开(公告)号：US09452019B2

公开(公告)日：2016-09-27

申请号：US13907049

申请日：2013-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Michael Schena ,  Gregory W. Dachs, II ,  Todd Solomon

IPC: A61B19/00 ,  A61B17/00

CPC classification number: A61B34/30 ,  A61B34/20 ,  A61B34/37 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2034/2059

Abstract: A robotic assembly is configured to support, insert, retract, and actuate a surgical instrument mounted to the robotic assembly. The robotic assembly includes an instrument holder base member, a motor housing moveably mounted to the instrument holder base member, a carriage drive mechanism operable to translate the motor housing along the instrument holder base member, a plurality of drive motors, and a plurality of output drive couplings driven by the drive motors. One or more of the drive motors includes one or more magnetic flux shields to inhibit magnetic interference with an adjacent drive motor and/or with an adjacent motor orientation sensor.

Abstract translation: 机器人组件被配置为支撑，插入，缩回和致动安装到机器人组件的外科器械。 机器人组件包括仪器座基座部件，可移动地安装在仪器保持器基座部件上的马达壳体，可沿着仪器保持器基座部件平移马达壳体的滑架驱动机构，多个驱动马达和多个输出 由驱动电机驱动的驱动联轴器。 一个或多个驱动电机包括一个或多个磁通屏蔽件，以阻止与相邻的驱动电机和/或与相邻的电动机定向传感器的磁干扰。

公开(公告)号：US09314926B2

公开(公告)日：2016-04-19

申请号：US13767856

申请日：2013-02-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Bailey ,  Simon P. DiMaio ,  Tao Zhao ,  Lawton N. Verner ,  Alan E. Loh ,  Jonathan Sorger ,  Bruce Michael Schena

IPC: A61B19/00 ,  B25J11/00 ,  B25J5/02 ,  B25J9/10 ,  A61B17/00 ,  A61B18/14 ,  A61B17/34

CPC classification number: B25J11/00 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00274 ,  A61B2017/3409 ,  A61B2018/1425 ,  A61B2034/2059 ,  A61B2090/3954 ,  A61B2090/3983 ,  A61B2090/506 ,  B25J5/02 ,  B25J9/1065

Abstract: Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.

Abstract translation: 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。

公开(公告)号：US20130325030A1

公开(公告)日：2013-12-05

申请号：US13906819

申请日：2013-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. HOURTASH ,  Pushkar Hingwe ,  Bruce Michael Schena ,  Roman L. Devengenzo

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  B25J9/1607 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/39091 ,  G05B2219/39135 ,  G05B2219/40202 ,  G05B2219/40362 ,  G05B2219/40371 ,  G05B2219/40476 ,  G05B2219/40492 ,  G05B2219/45117

Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

Abstract translation: 提供了用于避免使用零空间的操纵臂之间的碰撞的装置，系统和方法。 在一个方面，系统使用多个操纵器的参考几何之间的关系来计算回避运动，以保持参考几何之间的间隔。 在某些实施例中，系统确定相邻参考几何之间的相对状态，确定参考几何之间的回避矢量，并且基于相对状态和回避矢量来计算雅可比的零空间内的一个或多个操纵器的回避运动。 可以根据计算的避免运动来驱动关节，同时保持末端执行器的期望状态或仪器轴枢转的远程中心位置，并且可以根据在零垂直空间内的末端执行器移位运动同时驱动关节 的雅可比人，以便实现末端执行器或远程中心的期望运动。