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    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION
    1.
    发明公开
    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION 审中-公开

    公开(公告)号：US20230329812A1

    公开(公告)日：2023-10-19

    申请号：US18338599

    申请日：2023-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Michael WALDO ,  Melody WU

    IPC: A61B34/30 ,  A61B34/00 ,  A61B18/14

    CPC classification number: A61B34/30 ,  A61B34/00 ,  A61B18/1445 ,  A61B18/1442 ,  A61B2017/003

    Abstract: Techniques for operating an instrument include a computer-assisted device having one or more processors, a motor or other active actuator, and an articulated arm configured to support the instrument having a cutting blade. The one or more processors are configured to control, using the motor or other active actuator, the instrument according to a force or torque limit profile. The force or torque limit profile includes a first force or torque limit used when extending the cutting blade from a first position to a second position, a second force or torque limit used when retracting the cutting blade from the second position to a third position between the first position and the second position and further retracting the cutting blade to the first position, and a third force or torque limit used while the cutting blade is in the first position.

    TORQUE COMPENSATION
    4.
    发明申请
    TORQUE COMPENSATION 审中-公开

    公开(公告)号：US20200337704A1

    公开(公告)日：2020-10-29

    申请号：US16930235

    申请日：2020-07-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Melody WU ,  Gabriel F. BRISSON ,  Kevin DURANT ,  Grant DUQUE

    IPC: A61B17/08 ,  A61B17/10 ,  A61B17/072 ,  A61B18/14 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/98 ,  A61B34/00 ,  A61B34/37 ,  A61B90/92 ,  A61B1/00 ,  B25J9/16 ,  G01L5/22

    Abstract: In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.

    SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION
    6.
    发明申请
    SYSTEM AND METHOD FOR FORCE OR TORQUE LIMIT COMPENSATION 有权

    公开(公告)号：US20210085419A1

    公开(公告)日：2021-03-25

    申请号：US17110944

    申请日：2020-12-03

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Melody WU ,  David W. WEIR

    IPC: A61B90/00 ,  A61B17/285 ,  A61B17/3205 ,  A61B34/20 ,  A61B34/00 ,  A61B18/08 ,  A61B34/10 ,  A61B34/32 ,  A61B34/35 ,  B25J9/16

    Abstract: A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION
    7.
    发明申请
    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION 有权

    公开(公告)号：US20210068906A1

    公开(公告)日：2021-03-11

    申请号：US17102210

    申请日：2020-11-23

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Michael WALDO ,  Melody WU

    IPC: A61B34/30 ,  A61B34/00 ,  A61B18/14

    Abstract: A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

    STAPLER RELOAD DETECTION AND IDENTIFICATION
    9.
    发明申请
    STAPLER RELOAD DETECTION AND IDENTIFICATION 有权

    公开(公告)号：US20220273309A1

    公开(公告)日：2022-09-01

    申请号：US17745757

    申请日：2022-05-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： William BURBANK ,  Matthew A. WIXEY ,  Nicholas RAGOSTA ,  David W. WEIR ,  Emily COOPER ,  Melody WU

    IPC: A61B17/072 ,  A61B34/00

    Abstract: Disclosed are techniques for stapler reload detection and identification. A manipulator is configured to have an instrument mounted thereto. The instrument includes an end effector configured for mounting of a replaceable stapler cartridge and a pusher member configured to articulate a staple pushing shuttle of the stapler cartridge to deploy staples from the stapler cartridge. An actuation mechanism is drivingly coupled with the pusher member. A control unit is configured to control operation of the actuation mechanism to move the pusher member from a first position to a second position, wherein at the second position, the pusher member makes contact with a portion of the staple cartridge or a portion of the end effector; determine a distance of movement of the pusher member from the first position to the second position; and determine, based on the distance of movement, an operational status of the instrument relating to the stapler cartridge.

    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES
    10.
    发明申请
    SYSTEM AND METHOD FOR REDUCING BLADE EXPOSURES 审中-公开

    公开(公告)号：US20200337718A1

    公开(公告)日：2020-10-29

    申请号：US16930239

    申请日：2020-07-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Julie L. BERRY ,  Melissa D. LIPPIATT ,  Daniel P. SARALIEV ,  Melody WU

    IPC: A61B17/285 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B17/32

    Abstract: Techniques for reducing blade exposures include one or more processors and a drive system configured to be coupled to a cutting instrument. The cutting instrument includes an end effector located at a distal end of the cutting instrument, the end effector comprising opposable gripping jaws and a cutting blade, a shaft configured to be coupled to the drive system, an articulated wrist coupling the end effector to the shaft and one or more drive mechanisms in the shaft for coupling force or torque from the drive system to the end effector and the articulated wrist. The one or more processors are configured to measure a jaw angle between the gripping jaws, measure articulation of the articulated wrist, correct the jaw angle based on the articulation of the articulated wrist, determine a cutting length based on the corrected jaw angle, and perform a cutting operation according to the cutting length.

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