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公开(公告)号：US12171516B2
公开(公告)日：2024-12-24
申请号：US17541554
申请日：2021-12-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. McDowall , Amy Kerdok
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.
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公开(公告)号：US12042238B2
公开(公告)日：2024-07-23
申请号：US18073026
申请日：2022-12-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
CPC classification number: A61B34/35 , A61B34/25 , A61B34/70 , B25J9/04 , B25J9/1689 , B25J18/04 , A61B2034/301 , A61B2034/305
Abstract: Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.
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公开(公告)号：US20230093215A1
公开(公告)日：2023-03-23
申请号：US18073026
申请日：2022-12-01
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
Abstract: Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.
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公开(公告)号：US11564760B2
公开(公告)日：2023-01-31
申请号：US16340966
申请日：2017-10-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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公开(公告)号：US20250072984A1
公开(公告)日：2025-03-06
申请号：US18953725
申请日：2024-11-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Ryan Charles Abbott , John Ryan Steger , Daniel H. Gomez , Ian E. Mcdowall , Amy Kerdok
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.
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Patent Agency Ranking
公开(公告)号：US11517383B2
公开(公告)日：2022-12-06
申请号：US16636269
申请日：2018-08-02
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
Abstract: Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.
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公开(公告)号：US20210022815A1
公开(公告)日：2021-01-28
申请号：US17042743
申请日：2019-03-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
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公开(公告)号：US20190298464A1
公开(公告)日：2019-10-03
申请号：US16368302
申请日：2019-03-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott
Abstract: Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
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公开(公告)号：US20190175294A1
公开(公告)日：2019-06-13
申请号：US16325978
申请日：2017-08-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ryan Charles Abbott , Daniel H. Gomez , Amy Kerdok , Ian E. McDowall , John Ryan Steger
IPC: A61B34/35
Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.
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公开(公告)号：US11974826B2
公开(公告)日：2024-05-07
申请号：US18081383
申请日：2022-12-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： John Ryan Steger , Ryan Charles Abbott , Daniel H. Gomez
CPC classification number: A61B34/35 , A61B34/30 , A61B50/20 , A61B90/50 , B25J9/106 , B25J9/1689 , A61B2017/00464 , A61B2017/00477 , A61B17/3423 , A61B2034/301 , A61B2034/305
Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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