公开(公告)号：US10993773B2

公开(公告)日：2021-05-04

申请号：US16377988

申请日：2019-04-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop

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

Abstract: 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：US20210022768A1

公开(公告)日：2021-01-28

申请号：US17071643

申请日：2020-10-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B17/34 ,  A61B1/00 ,  A61B34/30 ,  A61B90/11

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, and an outside surface that fits closely to an inner wall surface of a cannula into which the instrument guide is inserted. The instrument guide also comprises a first guide channel opening defined along a length of a first guide channel of the plurality of instrument guide channels. The instrument guide also comprises a second guide channel opening defined along a length of a second guide channel of the plurality of instrument guide channels. The instrument guide also comprises an insufflation channel defined between the first and second guide channel openings. The insufflation channel extends from a position between the proximal and distal ends of the instrument guide to the distal end of the instrument guide.

公开(公告)号：US10898281B2

公开(公告)日：2021-01-26

申请号：US15978357

申请日：2018-05-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC: A61B34/30 ,  A61B90/10 ,  A61B34/00 ,  A61B34/37 ,  A61B17/00 ,  A61B90/50 ,  A61B90/00

Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

公开(公告)号：US10799303B2

公开(公告)日：2020-10-13

申请号：US14911529

申请日：2014-08-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. Cooper ,  Anthony K. McGrogan ,  Robert E. Holop ,  Todd R. Solomon ,  Eugene F. Duval ,  Kent M. Anderson

IPC: A61B34/30 ,  A61B17/00

Abstract: 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：US10710246B2

公开(公告)日：2020-07-14

申请号：US15327322

申请日：2015-08-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  David Q. Larkin ,  Kent M. Anderson ,  Jeffrey D. Brown ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/00 ,  A61B17/34

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US10456166B2

公开(公告)日：2019-10-29

申请号：US15360311

申请日：2016-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US10448813B2

公开(公告)日：2019-10-22

申请号：US14943216

申请日：2015-11-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  David J. Rosa ,  Matthew R. Williams ,  Eugene F. Duval

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

Abstract: A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed to allow the image capture component to be moved. The surgical instruments and the guide tube are telemanipulatively controlled.

公开(公告)号：US20190314046A1

公开(公告)日：2019-10-17

申请号：US16456148

申请日：2019-06-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher Anderson ,  Thomas G. Cooper

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

Abstract: 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

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: 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

Abstract: 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

Applicant: Intuitive Surgical Operations, Inc.

Inventor： S. Christopher Anderson ,  Thomas G. Cooper

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

Abstract: 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.