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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.
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公开(公告)号：US10912616B2
公开(公告)日：2021-02-09
申请号：US15121374
申请日：2015-03-17
摘要： A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.
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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.
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公开(公告)号：US11690689B2
公开(公告)日：2023-07-04
申请号：US17133877
申请日：2020-12-24
发明人： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
IPC分类号： B25J19/00 , A61B34/35 , A61B34/37 , A61B34/30 , A61B34/00 , A61B90/00 , B25J19/02 , B25J19/04
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J19/02 , B25J19/021 , B25J19/023 , B25J19/04
摘要： Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.
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公开(公告)号：US11045274B2
公开(公告)日：2021-06-29
申请号：US16748419
申请日：2020-01-21
发明人： Gregory W. Dachs, II , Bruce Michael Schena , Amir H. Chaghajerdi , Niels Smaby , Tyler J. Morrissette
IPC分类号： A61B46/10 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/35 , A61B46/00 , A61B90/98 , A61B17/00 , A61B46/23 , F16H1/20
摘要： An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.
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公开(公告)号：US10543051B2
公开(公告)日：2020-01-28
申请号：US15121718
申请日：2015-03-17
IPC分类号： A61B34/35 , A61B34/37 , A61B90/00 , A61B46/10 , A61B34/30 , A61B46/00 , A61B90/98 , A61B17/00 , A61B46/23 , F16H1/20
摘要： A teleoperated surgical system has an instrument manipulator that includes a first carriage driver and a second carriage driver that each provide independent rotary motion. Each carriage driver includes a first engagement feature. A surgical instrument includes two instrument drivers that each receive the rotary motion from one of the two carriage drivers. Each instrument driver includes a second engagement feature that engages the first engagement feature to positively couple the carriage driver to the instrument driver. The instrument drivers are rotationally coupled together. A manipulator controller controls rotation of the two carriage drivers and imparts a motion to the second carriage driver that is contrary to the rotation of the first carriage driver until the first engagement features positively engage the second engagement features. The surgical instrument may include an instrument shaft that can rotate indefinitely. The instrument drivers may be rotationally coupled to the instrument shaft.
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公开(公告)号：US10085811B2
公开(公告)日：2018-10-02
申请号：US15125075
申请日：2015-03-17
摘要： A telesurgery system having a surgical assembly with a motor and a surgical instrument. The surgical assembly has at least one drive mechanism driven by the motor. A sensor assembly is coupled to non-volatile memory, and is for recording position of the at least one rotatable mechanism to the non-volatile memory. A controller is communicatively coupled to the sensor assembly. The controller a processor configured to execute a method. In the method, rotational position of the a drive mechanism is recorded to the non-volatile memory during use of the surgical assembly. A mid-procedure shut-down of the surgical assembly is then initiated. A request is then received to initiate a mid-procedure restart of the surgical assembly. It is then determined whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position to allow the mid-procedure restart to complete.
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公开(公告)号：US20170179857A1
公开(公告)日：2017-06-22
申请号：US15118264
申请日：2015-02-17
CPC分类号： H02P6/10 , A61B17/00 , A61B34/35 , A61B90/03 , A61B2017/00464 , A61B2090/031 , A61B2090/066 , A61B2560/0223 , H02P6/08 , H02P6/14 , H02P23/0031 , H02P23/04
摘要： A method for torque compensation of a motor associated with a medical instrument includes determining a torque profile for a motor, the torque profile defining torque output as a function of rotor angle and during operation of the motor, compensating for deviations in the torque profile by adjusting an input signal to the motor, the compensating being based on the torque profile and rotor position.
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9.发明申请RESTORING INSTRUMENT CONTROL INPUT POSITION/ORIENTATION DURING MIDPROCEDURE RESTART 审中-公开在中间重启期间恢复仪器控制输入位置/定位公开(公告)号：US20170020617A1
公开(公告)日：2017-01-26
申请号：US15125075
申请日：2015-03-17
CPC分类号： A61B34/35 , A61B34/30 , A61B90/08 , A61B2090/0814 , B25J9/1689
摘要： A telesurgery system having a surgical assembly with a motor and a surgical instrument. The surgical assembly has at least one drive mechanism driven by the motor. A sensor assembly is coupled to non-volatile memory, and is for recording position of the at least one rotatable mechanism to the non-volatile memory. A controller is communicatively coupled to the sensor assembly. The controller a processor configured to execute a method. In the method, rotational position of the a drive mechanism is recorded to the non-volatile memory during use of the surgical assembly. A mid-procedure shut-down of the surgical assembly is then initiated. A request is then received to initiate a mid-procedure restart of the surgical assembly. It is then determined whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position to allow the mid-procedure restart to complete.
摘要翻译： 具有外科手术组件的电动外科手术系统的电动机和手术器械。 手术组件具有由马达驱动的至少一个驱动机构。 传感器组件耦合到非易失性存储器，并且用于将至少一个可旋转机构的位置记录到非易失性存储器。 控制器通信地耦合到传感器组件。 控制器配置成执行方法的处理器。 在该方法中，驱动机构的旋转位置在外科手术组件的使用期间被记录到非易失性存储器。 然后启动手术组件的中间程序关闭。 然后接收请求以启动手术组件的中间程序重新启动。 然后，确定驱动机构的关闭后位置是否在相对于预关闭位置的可接受公差内，以允许中间程序重新启动完成。
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公开(公告)号：US20230277264A1
公开(公告)日：2023-09-07
申请号：US18171246
申请日：2023-02-17
发明人： Gabriel F. Brisson , Niels Smaby , Melody Wu
CPC分类号： A61B34/37 , F16D63/006 , A61B17/00 , A61B34/35 , A61B2090/031
摘要： A method comprises driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states. The camshaft defines a longitudinal axis and rotates about the longitudinal axis. The method further comprises engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft. The method further comprises disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
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