公开(公告)号：US10433716B2

公开(公告)日：2019-10-08

申请号：US15662645

申请日：2017-07-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christoph Matthias Pistor ,  Joshua T. Oen

IPC: B25J17/00 ,  B25J18/00 ,  B29C41/42 ,  A61B1/005 ,  B25J9/00 ,  B25J18/06 ,  A61B34/30 ,  A61B1/055

Abstract: A robotic link may include a link having an outer wall surface and an inner wall surface, and a pair of outer hinge portions on a first end of the link. Each outer hinge portion may have an inner bearing surface positioned between the inner wall surface and an outer ear. The link may include a pair of inner hinge portions on a second end of the link. Each inner hinge portion may have an outer bearing surface positioned between the outer wall surface and an inner ear.

公开(公告)号：US10952594B2

公开(公告)日：2021-03-23

申请号：US16697805

申请日：2019-11-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jay Gurusamy ,  Carson Jay Shellenberger ,  Christopher A. Julian ,  Joshua T. Oen

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B1/008 ,  A61B1/273 ,  G02B23/24

Abstract: A medical instrument may comprise a plurality of links disposed in series along an axial direction. The plurality of links also may comprise a brake assembly comprise one or more first braking components coupled to a first link in the pair of adjacent links and one or more second braking components coupled to a second link in the pair of adjacent links. The one or more first braking components and the one or more second braking components may have an interleaved arrangement with each other. The braking assembly may be actuatable between an engaged state and a disengaged state, wherein the one or more first braking components and the one or more second braking components inhibit the pair of adjacent links from pivoting relative to one another in the engaged state of the brake assembly, and wherein the one or more first braking components and the one or more second braking components permit the pair of adjacent links pivoting relative to one another in the disengaged state of the brake assembly. The one or more first braking components and the one or more second braking components may be pressed together in the engaged state of the brake assembly.

公开(公告)号：US11154185B2

公开(公告)日：2021-10-26

申请号：US16577366

申请日：2019-09-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christoph Matthias Pistor ,  Joshua T. Oen

IPC: A61B1/005 ,  B25J9/00 ,  B25J9/06 ,  B25J9/10 ,  B25J18/06 ,  A61B34/30 ,  A61B1/055

Abstract: A flexible instrument comprises a first link and a second link that each comprise a first end, a second end, and a wall extending between the first end and the second end, the wall comprising an outer wall surface and an inner wall surface; an outer ear extending in a first axial direction away from the first end of the link; an inner bearing surface defined at the first end of the link, the inner bearing surface extending between the outer ear and the inner wall surface; an inner ear extending in a second axial direction away from the second end of the link; and an outer bearing surface defined at the second end of the wall, the inner bearing surface extending between the inner ear and the outer wall surface. The instrument further comprises at least one of a position sensor and an orientation sensor located along the wall of the instrument.