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.

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.