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    DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS
    3.
    发明公开
    DEVICES, SYSTEMS AND METHODS FOR CONTROLLING CABLE DRIVE MECHANISMS 审中-公开

    公开(公告)号：US20240149438A1

    公开(公告)日：2024-05-09

    申请号：US18280874

    申请日：2022-03-07

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Bram Gilbert Antoon Lambrecht ,  Thomas G. Cooper ,  Andrew Cullen Waterbury

    IPC分类号： B25J9/10 ,  A61B34/00 ,  A61B34/30 ,  B66D1/74

    CPC分类号： B25J9/104 ,  A61B34/30 ,  A61B34/71 ,  B66D1/74

    摘要： A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.

    Flexible wrist for surgical tool
    8.
    发明授权
    Flexible wrist for surgical tool 有权

    公开(公告)号：US11633241B2

    公开(公告)日：2023-04-25

    申请号：US16703395

    申请日：2019-12-04

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Thomas G. Cooper ,  S. Christopher Anderson

    IPC分类号： A61B34/30 ,  A61B1/00 ,  A61B1/008 ,  A61B17/062 ,  A61B17/29 ,  A61B34/00 ,  A61B17/00 ,  A61B1/005 ,  A61B1/018 ,  A61B17/068 ,  A61B17/128 ,  A61B18/14

    摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument includes an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector. A plurality of actuation cables have distal portions connected to the end effector and extend from the distal portion through the lumens of the wall of the wrist member toward the elongate shaft to proximal portions which are actuatable to bend the wrist member in pitch rotation and yaw rotation.

    Multi-Port Surgical Robotic System Architecture
    9.
    发明申请
    Multi-Port Surgical Robotic System Architecture 有权

    公开(公告)号：US20220151715A1

    公开(公告)日：2022-05-19

    申请号：US17591196

    申请日：2022-02-02

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Bruce Michael Schena ,  Roman L. Devengenzo ,  Scott Luke ,  David Martin ,  Thomas G. Cooper ,  Thomas Brown

    IPC分类号： A61B34/30 ,  F16M11/20 ,  A61B34/37

    摘要： A robotic surgery system includes a mounting base, a column base fixedly coupled with the mounting base, a translatable column member slideably coupled to the column base, an orienting platform coupled with the translatable column member, outer set-up linkages, and outer surgical instrument manipulators. Each of the outer set-up linkages is rotationally coupled to and supported by the orienting platform. Each of the outer set-up linkages includes an extension link, a coupling link, and a first joint that couples the respective coupling link to the respective extension link. Each of the outer surgical instrument manipulators is operable to selectively articulate a respective surgical instrument mounted to the outer surgical instrument manipulator and to insert the surgical instrument along an insertion axis through a remote center of manipulation.

    Lever actuated gimbal plate
    10.
    发明授权
    Lever actuated gimbal plate 有权

    公开(公告)号：US11248686B2

    公开(公告)日：2022-02-15

    申请号：US16780432

    申请日：2020-02-03

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Thomas G. Cooper ,  S. Christopher Anderson

    IPC分类号： F16H21/54 ,  A61B1/005 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

    摘要： A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.