公开(公告)号：US09504527B2

公开(公告)日：2016-11-29

申请号：US14218300

申请日：2014-03-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Gregory Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: G06F19/00 ,  A61B19/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。

公开(公告)号：US11357572B2

公开(公告)日：2022-06-14

申请号：US16381828

申请日：2019-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

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

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：US20190298453A1

公开(公告)日：2019-10-03

申请号：US16381828

申请日：2019-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

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

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：US09101381B2

公开(公告)日：2015-08-11

申请号：US13903997

申请日：2013-05-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

IPC: A61B17/00 ,  A61B19/00 ,  F16D3/26 ,  F16D3/18

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外科手术工具。 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。

公开(公告)号：US20140276950A1

公开(公告)日：2014-09-18

申请号：US14218300

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B19/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361

Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.

Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。