公开(公告)号：US11899248B2

公开(公告)日：2024-02-13

申请号：US17193166

申请日：2021-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Matthew D. Rohr Daniel ,  Troy K. Adebar ,  David W. Bailey ,  Stephen J. Blumenkranz ,  Edward P. Donlon ,  Mark Froggatt ,  Christopher M. Major ,  Randall L. Schlesinger

IPC: G02B6/38 ,  B08B1/00 ,  B08B1/04

CPC classification number: G02B6/3866 ,  B08B1/008 ,  B08B1/04 ,  B08B2240/02

Abstract: An optical fiber cleaning assembly includes a cleaning tape, a first spool having the cleaning tape wound thereon, a second spool onto which the cleaning tape is drawn, a drive mechanism configured to move the cleaning tape from the first spool to the second spool, and one or more first connectors configured to mate with one or more connectors of a system, the system including a first optical fiber. The optical fiber cleaning assembly further includes one or more second connectors configured to mate with one or more optical fiber connectors of a device while the optical fiber cleaning assembly is attached to the system by the one or more first connectors, the device including a second optical fiber. The drive mechanism is configured to move the cleaning tape from the first spool to the second spool to wipe the face of the first or second optical fiber.

公开(公告)号：US20230372036A1

公开(公告)日：2023-11-23

申请号：US18352938

申请日：2023-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Matthew D. Rohr Daniel ,  David W. Bailey ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Matthew D. Inouye

IPC: A61B34/30 ,  B25J9/10 ,  A61B34/37 ,  A61B34/20 ,  A61B17/00

CPC classification number: A61B34/30 ,  B25J9/10 ,  A61B34/37 ,  A61B2034/2061 ,  A61B2034/2051 ,  A61B2017/00477

Abstract: An apparatus for movably coupling a robotic medical instrument system to an anatomic orifice device comprises a hollow medial portion including a first end, a second end, and a passageway therebetween. The apparatus further comprises a coupling member coupled to the medial portion along a longitudinal axis of the medial portion. The passageway extends through the coupling member, and the coupling member comprises a curved surface configured to rotatably connect the anatomic orifice device to the robotic medical instrument system.

公开(公告)号：US11793585B2

公开(公告)日：2023-10-24

申请号：US17500357

申请日：2021-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Scott L. Cassell ,  David W. Bailey ,  Stephen J. Blumenkranz ,  Timothy D. Boucher ,  Matthew D. Rohr Daniel

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B90/50

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B34/37 ,  A61B2034/301 ,  A61B2090/504

Abstract: A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure. The counterweight block has a counterweight mass to counterbalance a combined mass of the support structure and the instrument manipulator as the distal link extends from the proximal link.

公开(公告)号：US11759093B2

公开(公告)日：2023-09-19

申请号：US17158976

申请日：2021-01-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  A61B34/30

CPC classification number: A61B1/000095 ,  A61B1/00193 ,  A61B1/0638 ,  A61B1/0655 ,  A61B34/35 ,  A61B90/30 ,  A61B90/37 ,  G06T7/90 ,  H04N23/10 ,  H04N23/72 ,  A61B34/30 ,  A61B2090/371 ,  G06T2207/30004

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

公开(公告)号：US11497580B2

公开(公告)日：2022-11-15

申请号：US16522628

申请日：2019-07-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz

IPC: A61B90/70 ,  B08B9/00 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: A force transducer is coupled to a distal portion of a shaft of a surgical instrument. The force transducer includes proximal and distal portions, radial ribs, and a plurality of strain gauges. The radial ribs form a plurality of through passages. The surgical instrument further includes a flush manifold that receives a liquid from a proximal portion of the shaft, and that directs the liquid along a first subset of through passages of the plurality of through passages toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages of the plurality of through passages different from the first subset of through passages.

公开(公告)号：US20220104893A1

公开(公告)日：2022-04-07

申请号：US17500357

申请日：2021-10-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Scott L. Cassell ,  David W. Bailey ,  Stephen J. Blumenkranz ,  Timothy D. Boucher ,  Matthew D. Rohr Daniel

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B90/50

Abstract: A support structure for supporting an instrument manipulator comprises a proximal link and a distal link configured to extend from the proximal link. The support structure further comprises a base joint coupling the proximal link of the support structure to a base, and the proximal link is configured to rotate about a first axis associated with the base joint. The support structure further comprises a counterbalance mechanism comprising a counterweight block configured to move linearly within the support structure. The counterweight block has a counterweight mass to counterbalance a combined mass of the support structure and the instrument manipulator as the distal link extends from the proximal link.

公开(公告)号：US10966792B2

公开(公告)日：2021-04-06

申请号：US16272791

申请日：2019-02-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

IPC: A61B17/34 ,  A61B34/30 ,  A61B17/02 ,  A61M39/06

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

公开(公告)号：US10898284B2

公开(公告)日：2021-01-26

申请号：US16272824

申请日：2019-02-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. Verner ,  Stephen J. Blumenkranz

IPC: A61B34/30 ,  A61B17/34 ,  A61B17/02 ,  A61M39/06

Abstract: Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.

公开(公告)号：US10772485B2

公开(公告)日：2020-09-15

申请号：US16509177

申请日：2019-07-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randall L. Schlesinger ,  Stephen J. Blumenkranz ,  Christopher R. Carlson ,  Vincent Duindam ,  Anoop B. Kowshik ,  Timothy D. Soper

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B34/20

Abstract: An apparatus may include an instrument including an elongated shaft and a shape sensor including an elongated optical fiber extending within the elongated shaft at a first radial distance from a neutral axis. The apparatus may also comprise a reference sensor disposed within the elongated shaft. The shape sensor may be fixed in a known first position relative to the reference sensor. The apparatus may also comprise a twist resistant feature disposed within the elongated shaft. The twist resistant feature may be coupled to the shape sensor to reduce twisting of the elongated optical fiber relative to the elongated shaft while permitting axial translation of the elongated optical fiber within the elongated shaft. The shape sensor may be coupled to the twist resistant feature at a known second position relative to the reference sensor.

公开(公告)号：US20200240861A1

公开(公告)日：2020-07-30

申请号：US16827243

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Christopher J. Hasser

IPC: G01L1/24 ,  A61B90/00 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00

Abstract: In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.