-
公开(公告)号：US10277097B2
公开(公告)日：2019-04-30
申请号：US14154087
申请日：2014-01-13
发明人： David W. Weir , Melody Wu , Kevin Durant , Grant Duque
摘要： A motor assembly is presented. A motor assembly can include at least one motor; a memory to store calibrated parameters related to the at least one motor; and electronics coupled to the memory, the at least one motor, the electronics including interfaces to couple with a clamping device and a system to control the operation of the at least one motor. The calibrated parameters are determined for the at least one motor with a procedure that includes performing an initial calibration of the at least one motor; wearing in the at least one motor; performing a final calibration of the at least one motor; and storing calibration data in the memory. In some embodiments, the at least one motor can include a clamping motor and/or a firing motor. In some embodiments, lifetime parameters are stored in the memory.
-
公开(公告)号：US20180116749A1
公开(公告)日：2018-05-03
申请号：US15573077
申请日：2016-05-13
发明人： Melody Wu , David W. Weir
CPC分类号： A61B90/03 , A61B17/285 , A61B17/3205 , A61B18/085 , A61B18/1445 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/32 , A61B34/35 , A61B34/71 , A61B2017/003 , A61B2017/07285 , A61B2018/1455 , A61B2034/102 , A61B2034/306 , A61B2090/031 , B25J9/163 , B25J9/1633
摘要： 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.
-
公开(公告)号：US09675354B2
公开(公告)日：2017-06-13
申请号：US14154075
申请日：2014-01-13
发明人： David W. Weir , Melody Wu , Gabriel F. Brisson , Kevin Durant , Grant Duque
IPC分类号： A61B17/00 , A61B17/10 , A61B17/072 , A61B34/30 , A61B50/13 , A61B50/33 , A61B90/98 , A61B17/29 , A61B18/14 , A61B18/00 , A61B90/00
CPC分类号： A61B17/10 , A61B17/07207 , A61B18/1445 , A61B34/30 , A61B50/13 , A61B50/33 , A61B90/98 , A61B2017/00398 , A61B2017/07285 , A61B2017/2927 , A61B2018/0063 , A61B2018/00988 , A61B2018/1455 , A61B2090/031
摘要： Embodiments of a clamping system are disclosed. In some embodiments, a system used with a motor assembly and a clamping device is presented, the system adjusting torque limits in the motor assembly according to conditions, for example operating temperature of the motor assembly and aging of the clamping device and the motor assembly. The clamping device can be, for example, a stapler or a vessel sealer.
-
公开(公告)号：US11998398B2
公开(公告)日：2024-06-04
申请号：US17110944
申请日：2020-12-03
发明人： Melody Wu , David W. Weir
IPC分类号： A61B90/00 , A61B17/285 , A61B17/3205 , A61B18/08 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/32 , A61B34/35 , B25J9/16 , A61B17/00 , A61B17/072 , A61B18/14 , A61B34/30
CPC分类号： A61B90/03 , A61B17/285 , A61B17/3205 , A61B18/085 , A61B34/00 , A61B34/10 , A61B34/20 , A61B34/32 , A61B34/35 , B25J9/163 , B25J9/1633 , A61B2017/003 , A61B2017/07285 , A61B18/1445 , A61B2018/1455 , A61B2034/102 , A61B2034/306 , A61B34/71 , A61B2090/031
摘要： 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.
-
公开(公告)号：US11737836B2
公开(公告)日：2023-08-29
申请号：US17102210
申请日：2020-11-23
发明人： David W. Weir , Michael Waldo , Melody Wu
CPC分类号： A61B34/30 , A61B18/1442 , A61B18/1445 , A61B34/00 , A61B2017/003 , A61B2018/1455 , A61B2090/064 , A61B2090/066
摘要： 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.
-
公开(公告)号：US11607282B2
公开(公告)日：2023-03-21
申请号：US16131925
申请日：2018-09-14
发明人： Gabriel F. Brisson , Niels Smaby , Melody Wu
摘要： A surgical system comprises a patient side cart, a motor, and a telesurgically operated instrument. The telesurgically operated instrument is coupled to the patient side cart and comprises a transmission and a surgical end effector having a plurality of end effector components. The transmission is driven by the motor and comprises a first effector drivetrain comprising a first gear, a first input gear, and a first locker arm, and a camshaft defining a longitudinal axis, the camshaft comprising a first power cam and a first locker cam. The motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft. In a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first input gear with the first gear, and the first locker cam is configured to disengage the first locker arm from the first gear.
-
公开(公告)号：US11013567B2
公开(公告)日：2021-05-25
申请号：US16084449
申请日：2017-02-16
发明人： Melody Wu , Samuel Kwok Wai Au
摘要： Systems and methods for controlling an insertion force when inserting a medical instrument through a cannula component are provided. Such a system may include a manipulator and a control system in communication with the manipulator. The manipulator is configured to be operatively coupled to a medical instrument. The manipulator is adapted to move the medical instrument through the cannula component. The control system is operative to determine an insertion profile associated with at least one of the medical instrument and the cannula component. And the control system is configured to control an insertion force to affect motion of the medical instrument during manual insertion of the medical instrument through the cannula component.
-
公开(公告)号：US10327773B2
公开(公告)日：2019-06-25
申请号：US15349902
申请日：2016-11-11
发明人： David W. Weir , Melody Wu , Kevin Durant , Grant Duque
IPC分类号： A61B17/072 , A61B17/068 , A61B34/30 , A61B50/13 , A61B50/33 , A61B90/90 , A61B90/92 , A61B90/98 , A61B90/00 , A61B17/00 , A61B17/29 , A61B18/14 , A61B18/00
摘要： Embodiments of a clamping instrument are disclosed. In some embodiments, a clamping device with calibrated parameters and a calibration process for the clamping device is presented. A method of calibrating a clamping instrument can include acquiring a data set of clamping torque as a function of tip deflection data for the clamping instrument; determining a torque limit from the data set; and storing the torque limit in the clamping instrument.
-
公开(公告)号：US20190083188A1
公开(公告)日：2019-03-21
申请号：US16131925
申请日：2018-09-14
发明人： Gabriel F. Brisson , Niels Smaby , Melody Wu
IPC分类号： A61B34/37
摘要： A surgical system comprises a patient side cart, a motor, and a telesurgically operated instrument. The telesurgically operated instrument is coupled to the patient side cart and comprises a transmission and a surgical end effector having a plurality of end effector components. The transmission is driven by the motor and comprises a first effector drivetrain comprising a first gear, a first input gear, and a first locker arm, and a camshaft defining a longitudinal axis, the camshaft comprising a first power cam and a first locker cam. The motor is configured to drive the camshaft to a plurality of rotational states, the camshaft being configured to rotate about the longitudinal axis of the camshaft. In a first rotational state of the plurality of rotational states, the first power cam is configured to engage the first input gear with the first gear, and the first locker cam is configured to disengage the first locker arm from the first gear.
-
公开(公告)号：US11890013B2
公开(公告)日：2024-02-06
申请号：US17745757
申请日：2022-05-16
发明人： William Burbank , Matthew A. Wixey , Nicholas Ragosta , David W. Weir , Emily Cooper , Melody Wu
CPC分类号： A61B17/07207 , A61B34/00 , A61B34/30 , A61B34/35 , A61B2017/00017 , A61B2017/0023 , A61B2017/00075 , A61B2017/07278 , A61B2017/07285 , A61B2090/0814
摘要： 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.
-
-
-
-
-
-
-
-
-
搜索结果
38 条记录 (耗时 0.022 秒)
