公开(公告)号：US20230390007A1

公开(公告)日：2023-12-07

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US20190298470A1

公开(公告)日：2019-10-03

申请号：US16317289

申请日：2017-05-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Robert E. HOLOP

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

Abstract: A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw away from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw toward the second jaw when the cam pin contacts the proximal end portion of the levering cam slot.

公开(公告)号：US20190223969A1

公开(公告)日：2019-07-25

申请号：US16317280

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Anthony K. McGROGAN ,  Todd R. SOLOMON

IPC: A61B46/10 ,  A61B34/30

Abstract: A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens instead of possibly bowing out and contacting a part of the insertion assembly or some other part of the surgical system.

公开(公告)号：US20230074236A1

公开(公告)日：2023-03-09

申请号：US17942334

申请日：2022-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Robert E. HOLOP

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

Abstract: A sterile adapter retaining device for mounting a surgical drape to a surgical drape installation aid comprises a body having a central portion and plurality of legs extending radially from the central portion. Each leg of the plurality of legs is configured to receive mounted thereon a respective instrument sterile adapter of a plurality of instrument sterile adapters attached to a surgical drape. The body is configured to fit within an interior volume of a surgical drape installation aid in a state of the plurality of instrument sterile adapters mounted on the plurality of legs.

公开(公告)号：US20210220066A1

公开(公告)日：2021-07-22

申请号：US17159764

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Todd R. SOLOMON ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Nicola DIOLAITI ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. McGROGAN ,  Craig R. RAMSTAD ,  Theodore W. ROGERS

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: 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：US20190298469A1

公开(公告)日：2019-10-03

申请号：US16317285

申请日：2017-06-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Jeffrey R. ROEDER ,  Jeffrey D. BROWN ,  Robert E. HOLOP ,  Anthony K. McGROGAN

IPC: A61B46/10 ,  A61B34/30

Abstract: A sterile surgical drape includes at least one assembly for managing and retaining sterile surgical drape on a part of a computer-assisted surgical system. For example, an assembly for managing and retaining sterile surgical drape is used to configure the surgical drape on a portion of the computer-assisted surgical system so that the sterility of sterile portions of the surgical drape is not compromised, and so that the physical integrity of the surgical drape is not compromised. Any one of a hinged cinch assembly, a hinged cinch and attachment element assembly, and an alignment and attachment element assembly, or any combination of the hinged cinch assembly, the hinged cinch and attachment element assembly, and the alignment and attachment element assembly can be attached to a surgical drape.

公开(公告)号：US20240415589A1

公开(公告)日：2024-12-19

申请号：US18817330

申请日：2024-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.

公开(公告)号：US20230077119A1

公开(公告)日：2023-03-09

申请号：US17942330

申请日：2022-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Anthony K. McGROGAN ,  Todd R. SOLOMON

IPC: A61B46/10 ,  A61B34/30

Abstract: A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion assembly. The plurality of tabs extends from the second end of the body.

公开(公告)号：US20220296322A1

公开(公告)日：2022-09-22

申请号：US17837422

申请日：2022-06-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Jeffrey D. BROWN ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Robert E. HOLOP ,  Anthony K. McGROGAN ,  Craig R. RAMSTAD ,  Theodore W. ROGERS ,  Todd R. SOLOMON

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

公开(公告)号：US20220183780A1

公开(公告)日：2022-06-16

申请号：US17683949

申请日：2022-03-01

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: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.