公开(公告)号：US11234694B2

公开(公告)日：2022-02-01

申请号：US15647981

申请日：2017-07-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Lewis Isbell, Jr.

IPC: A61B17/068 ,  A61B17/29 ,  A61B17/00 ,  A61B90/50

Abstract: A method comprises providing an articulation tool including an articulation mechanism comprising a proximal link and a distal link, end effector, elongated shaft, rotating member, and an articulation lock comprising a first lock configured to prevent pivoting of the elongated shaft about a yaw axis, a second lock configured to prevent pivoting about a pitch axis, and an actuator to actuate both locks simultaneously. The method further comprises driving movement of the proximal link which causes corresponding movement of the distal link, adjusting the actuator between an unlocked configuration and a locked configuration in which the links and end effector are held in a fixed orientation with respect to the elongated shaft, and driving rotation of the rotating member which causes rotation of the elongated shaft while the links and end effector are held in the fixed orientation and rotation of the end effector about the end effector longitudinal axis.

公开(公告)号：US09033960B2

公开(公告)日：2015-05-19

申请号：US13917928

申请日：2013-06-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lewis Isbell, Jr.

IPC: A61B17/00 ,  A61B17/29 ,  A61B19/00

CPC classification number: A61B17/068 ,  A61B17/00 ,  A61B17/29 ,  A61B2017/003 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2946 ,  A61B2090/508

Abstract: An articulating tool includes proximal, central and distal portions, an articulation mechanism, and first and second articulation locks. The articulation mechanism includes a pair of links, the pair comprising a proximal link on the proximal portion of the tool and a distal link on the distal portion of the tool. The first articulation lock has an engaged position and a disengaged position. When in the engaged position, the first articulation lock impedes movement of the proximal link relative to the central portion about a yaw axis, and corresponding relative movement of the distal link. The second articulation lock also has an engaged position and a disengaged position. When in the engaged position, the second articulation lock impedes movement of the proximal link relative to the central portion about a pitch axis, and corresponding relative movement of the distal link.

Abstract translation: 铰接工具包括近端，中心和远端部分，关节运动机构以及第一和第二关节锁。 所述关节运动机构包括一对连杆，所述一对连杆包括在所述工具的近端部分上的近端连杆和所述工具的远侧部分上的远端连杆。 第一铰接锁具有接合位置和脱离位置。 当处于接合位置时，第一关节运动锁阻止近端连杆相对于偏转轴线相对于中心部分的运动，以及远端连杆的相应的相对运动。 第二关节锁还具有接合位置和脱离位置。 当处于接合位置时，第二关节运动锁阻止近端连杆相对于中心部分围绕俯仰轴的移动，以及远端连杆的相应的相对运动。

公开(公告)号：US09737298B2

公开(公告)日：2017-08-22

申请号：US14695661

申请日：2015-04-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lewis Isbell, Jr.

IPC: A61B17/00 ,  A61B17/068 ,  A61B17/29 ,  A61B90/50

CPC classification number: A61B17/068 ,  A61B17/00 ,  A61B17/29 ,  A61B2017/003 ,  A61B2017/291 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2946 ,  A61B2090/508

Abstract: A tool comprises an articulation mechanism comprising a pair of links. The pair of links include a proximal link on a proximal portion of the tool and a distal link on a distal portion of the tool. Movement of the proximal link causes corresponding relative movement of the distal link. The tool further includes an end effector coupled to the distal link, an elongated shaft extending along a longitudinal axis between the proximal and distal links, and a rotating member operably coupled to the shaft. The tool further includes an articulation lock adjustable between a locked configuration in which the proximal link, the distal link, and the end effector are held in a fixed orientation with respect to the shaft while the rotating member is operable to rotate the shaft about the longitudinal axis and an unlocked configuration in which the end effector is movable with respect to the shaft.