-
公开(公告)号:US20210220066A1
公开(公告)日:2021-07-22
申请号:US17159764
申请日:2021-01-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Todd R. SOLOMON , Thomas G. COOPER , Eugene F. DUVAL , Nicola DIOLAITI , Daniel H. GOMEZ , Robert E. HOLOP , Anthony K. McGROGAN , Craig R. RAMSTAD , Theodore W. ROGERS
IPC: A61B34/00 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/34 , A61B46/23 , A61B90/98 , H01F5/02 , H01F5/04 , H01F27/28 , H04N5/225 , H04N5/232 , H05K1/18 , B25J15/04 , A61B17/02 , A61M13/00
Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
-
公开(公告)号:US20210282873A1
公开(公告)日:2021-09-16
申请号:US17193403
申请日:2021-03-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Robert E. HOLOP , Todd R. SOLOMON
Abstract: Techniques for automated engagement and disengagement of a preload include a computer-assisted apparatus. The computer-assisted apparatus includes an instrument manipulator assembly including a preload assembly and a controller coupled to the instrument manipulator assembly. The controller is configured to move the instrument manipulator assembly to a fully withdrawn position and command the preload assembly to engage a preload. In some embodiments, engaging the preload causes the preload assembly to assert a preload force on a motor pack of the instrument manipulator assembly. In some embodiments, the controller is further configured to move the instrument manipulator assembly to a home position after the preload is engaged.
-
公开(公告)号:US20190223969A1
公开(公告)日:2019-07-25
申请号:US16317280
申请日:2017-06-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Craig R. RAMSTAD , Anthony K. McGROGAN , Todd R. SOLOMON
Abstract: A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens instead of possibly bowing out and contacting a part of the insertion assembly or some other part of the surgical system.
-
公开(公告)号:US20230077119A1
公开(公告)日:2023-03-09
申请号:US17942330
申请日:2022-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Craig R. RAMSTAD , Anthony K. McGROGAN , Todd R. SOLOMON
Abstract: A drape shroud assembly comprises a body and a plurality of tabs. The body comprises a first end, a second end, an outer surface extending between the first end and the second end, and an inner surface extending between the first end and the second end. The inner surface of the body bounds an inner volume sized to permit at least part of a surgical instrument manipulator insertion assembly to be contained within the inner volume. The body is configured for attachment to the insertion assembly. The plurality of tabs extends from the second end of the body.
-
公开(公告)号:US20220296322A1
公开(公告)日:2022-09-22
申请号:US17837422
申请日:2022-06-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Daniel H. GOMEZ , Jeffrey D. BROWN , Thomas G. COOPER , Eugene F. DUVAL , Robert E. HOLOP , Anthony K. McGROGAN , Craig R. RAMSTAD , Theodore W. ROGERS , Todd R. SOLOMON
IPC: A61B34/00 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/34 , A61B46/23 , A61B50/00 , A61B90/98 , H01F5/02 , H01F5/04 , H01F27/28 , H04N5/225 , H04N5/232 , H05K1/18 , A61B1/00 , A61B50/20 , A61B50/30 , B25J15/04 , A61B17/02 , A61M13/00
Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.
-
公开(公告)号:US20200246096A1
公开(公告)日:2020-08-06
申请号:US16851794
申请日:2020-04-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Daniel H. GOMEZ , Jeffrey D. BROWN , Thomas G. COOPER , Eugene F. DUVAL , Robert E. HOLOP , Anthony K. McGROGAN , Craig R. RAMSTAD , Theodore W. ROGERS , Todd R. SOLOMON
IPC: A61B34/00 , A61M13/00 , A61B17/34 , A61B17/02 , B25J15/04 , A61B90/98 , A61B50/00 , A61B46/23 , A61B46/10 , A61B34/37 , A61B34/35 , A61B34/30 , F16F1/12 , B32B3/12 , H05K1/18 , H04N5/232 , H04N5/225 , H01F27/28 , H01F5/04 , H01F5/02 , G03B5/02
Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.
-
公开(公告)号:US20240090958A1
公开(公告)日:2024-03-21
申请号:US18243311
申请日:2023-09-07
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Thomas G. COOPER , Anthony K. MCGROGAN , Robert E. HOLOP , Todd R. SOLOMON , Eugene F. DUVAL , Kent M. ANDERSON
CPC classification number: A61B34/30 , A61B34/70 , A61B2017/00477
Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
-
公开(公告)号:US20230210614A1
公开(公告)日:2023-07-06
申请号:US18091941
申请日:2022-12-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Thomas G. COOPER , Anthony K. MCGROGAN , Robert E. HOLOP , Todd R. SOLOMON , Eugene F. DUVAL , Kent M. ANDERSON
CPC classification number: A61B34/30 , A61B34/70 , A61B2017/00477
Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
-
公开(公告)号:US20200222130A1
公开(公告)日:2020-07-16
申请号:US16831312
申请日:2020-03-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Thomas G. COOPER , Anthony K. MCGROGAN , Robert E. HOLOP , Todd R. SOLOMON , Eugene F. DUVAL , Kent M. ANDERSON
IPC: A61B34/30
Abstract: A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.
-
-
-
-
-
-
-
-