公开(公告)号：US09999472B2

公开(公告)日：2018-06-19

申请号：US15364114

申请日：2016-11-29

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： A61B34/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US20170071679A1

公开(公告)日：2017-03-16

申请号：US15364114

申请日：2016-11-29

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： DAVID WEIR ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： A61B34/00 ,  G06F3/14 ,  A61B34/37 ,  A61B90/00 ,  A61B17/072 ,  A61B17/29

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

摘要翻译： 具有关闭机构的结束执行器以及相关的工具和方法在用于微创手术时可能是特别有益的。 一种示例性外科手术工具包括可在关闭的被抓握或夹紧构型和打开构型之间移动的第一和第二钳口。 该工具进一步包括用于在第一力处抓住组织的软抓握模式，在该第一力期间测量夹爪之间的分离参数，以及治疗夹紧模式，其中夹爪以大于抓握力的力夹紧在身体组织上。 所述方法包括抓住钳口构件之间的身体组织，测量钳口之间的分离参数，在用户界面上指示分离参数以与期望的分离参数进行比较，然后释放身体组织以重新定位或治疗性地夹紧身体组织以作出响应 到分离参数指示。

公开(公告)号：US09615883B2

公开(公告)日：2017-04-11

申请号：US14276996

申请日：2014-05-13

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Bruce Michael Schena ,  John Zabinski ,  David Robinson ,  Paul G. Griffiths

IPC分类号： B62B3/04 ,  A61B19/00 ,  A61B34/30 ,  A61B50/13 ,  A61B34/37

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B50/13

摘要： A patient side cart for a teleoperated surgical system comprises a base, a manipulator portion extending from the base and configured to hold one or more surgical instruments, four wheels mounted to the base to permit movement of the cart, and a suspension system. The suspension system may be configured to transition the cart between a first state in which the cart behaves as a three-wheeled cart and a second state in which the cart behaves as a four-wheeled cart.

公开(公告)号：US09101348B2

公开(公告)日：2015-08-11

申请号：US14209239

申请日：2014-03-13

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David Robinson ,  Nitish Swarup ,  John Zabinski ,  Mark Zimmer

IPC分类号： B62D6/00 ,  A61B19/02 ,  B25J5/00 ,  A61B19/00

CPC分类号： A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

摘要： A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

摘要翻译： 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

公开(公告)号：US09814530B2

公开(公告)日：2017-11-14

申请号：US14635908

申请日：2015-05-12

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： G05B19/425 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US09662177B2

公开(公告)日：2017-05-30

申请号：US14635866

申请日：2015-03-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： G06F19/00 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaws, measuring the separation parameter between the jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.