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公开(公告)号:US20250134613A1
公开(公告)日:2025-05-01
申请号:US18944199
申请日:2024-11-12
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. A drape attachment region at an outer surface of the body is configured to attach a sterile drape to the body. The body of the drape shroud protects the drape from catching on the manipulator insertion assembly during movement thereof.
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公开(公告)号:US12207895B2
公开(公告)日:2025-01-28
申请号:US17683949
申请日:2022-03-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
IPC: A61B34/00 , A61B1/00 , A61B17/02 , A61B17/34 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/98 , A61M13/00 , B25J15/00 , B25J15/04 , B32B3/12 , F16F1/12 , H01F5/02 , H01F5/04 , H01F27/28 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/68 , H05K1/18 , A61B17/00 , A61B17/29 , A61B90/50 , B25J15/02 , G03B5/02
Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.
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公开(公告)号:US12127807B2
公开(公告)日:2024-10-29
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: A61B50/20 , A61B1/00 , A61B17/02 , A61B17/34 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B46/23 , A61B50/00 , A61B50/30 , A61B90/98 , A61M13/00 , B25J15/00 , B25J15/04 , B32B3/12 , F16F1/12 , H01F5/02 , H01F5/04 , H01F27/28 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/68 , H05K1/18 , A61B17/00 , A61B17/29 , A61B90/50 , B25J15/02 , G03B5/02
CPC classification number: A61B34/70 , A61B1/00135 , A61B1/00142 , A61B17/0218 , A61B17/3421 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B46/23 , A61B50/00 , A61B50/20 , A61B50/30 , A61B90/98 , A61M13/003 , B25J15/0066 , B25J15/04 , B32B3/12 , F16F1/121 , H01F5/02 , H01F5/04 , H01F27/2823 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/687 , H05K1/18 , A61B2017/00477 , A61B17/29 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2050/3008 , A61B2090/5025 , B25J15/02 , G03B5/02 , G03B2205/0015 , G03B2205/0069 , H01F2005/027 , Y10T74/20305
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.
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公开(公告)号:US20240341805A1
公开(公告)日:2024-10-17
申请号:US18639824
申请日:2024-04-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Thomas G. Cooper , Daniel H. Gomez , Paul E. Lilagan , Anthony K. McGrogan , Giuseppe Maria Prisco
CPC classification number: A61B17/3421 , A61B1/00064 , A61B34/30 , A61B90/11 , A61B1/00135 , A61B1/00154 , A61B2017/00278 , A61B2017/003 , A61B2017/00309 , A61B2017/00323 , A61B2017/00362 , A61B2017/3445 , A61B2017/3449 , A61B2017/3466 , A61B17/3474
Abstract: A surgical access port comprises a cannula comprising a proximal portion and a distal portion comprising a flexible section. The access port further comprises an instrument guide configured to be positioned within the cannula. The instrument guide comprises a proximal end, a distal end, and a plurality of instrument guide channels between the proximal and distal ends of the instrument guide. Each instrument guide channel of the plurality of instrument guide channels defines a corresponding guide channel opening. An outside surface of the instrument guide fits closely to an inner wall surface of the cannula when the instrument guide is within the cannula. A guide channel opening of a first instrument guide channel of the plurality of instrument guide channels is open to the outside surface of the instrument guide.
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5.
公开(公告)号:US10011018B2
公开(公告)日:2018-07-03
申请号:US14824217
申请日:2015-08-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Anthony K. McGrogan , Thomas G. Cooper , Kent M. Anderson , Jeffrey D. Brown
CPC classification number: B25J15/0028 , A61B34/30 , A61B34/70 , A61B90/50 , A61B90/90 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , Y10S901/36 , Y10S901/38 , Y10S901/39
Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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公开(公告)号:US09955996B2
公开(公告)日:2018-05-01
申请号:US14555417
申请日:2014-11-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Todd R. Solomon , Thomas G. Cooper , Eugene F. F. Duval , Nicola Diolaiti , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC: A61B17/00 , A61B17/34 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/00 , B25J15/04 , A61B46/23 , A61B50/00 , A61B90/98 , A61B17/02 , A61B90/50
CPC classification number: A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
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.
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公开(公告)号:US20170071628A1
公开(公告)日:2017-03-16
申请号:US15360311
申请日:2016-11-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor: Thomas G. Cooper , Jeffrey D. Brown , Nicola Diolaiti , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Paul E. Lilagan , Anthony K. McGrogan , Craig R. Ramstad
Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.
Abstract translation: 提供入口引导管和插管组件,包括组件的手术系统和外科器械插入的方法。 在一个实施例中,组件包括套管,其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件,管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管,入口引导管包括用于多个器械轴通过的多个通道,其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。
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公开(公告)号:US20140275796A1
公开(公告)日:2014-09-18
申请号:US14211433
申请日:2014-03-14
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Anthony K. McGrogan , Craig R. Ramstad , Paul E. Lilagan , Michael Ikeda
Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.
Abstract translation: 呈现旋转辅助端口装置的实施例。 辅助端口装置可用于在单端口机器人手术中提供额外的辅助仪器。 在一些实施例中,辅助端口装置可用于单端口远程机器人手术期间的皮肤收缩。
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公开(公告)号:US20240000532A1
公开(公告)日:2024-01-04
申请号:US18327238
申请日:2023-06-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Anthony K. McGrogan , Jeffrey D. Brown , Thomas G. Cooper , Eugene F. Duval , Daniel H. Gomez , Robert E. Holop , Craig R. Ramstad
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 , H05K1/18 , A61B1/00 , A61B50/20 , A61B50/30 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/68 , B25J15/00 , B25J15/04 , A61B17/02 , A61M13/00
CPC classification number: A61B34/70 , B32B3/12 , F16F1/121 , A61B34/30 , A61B34/35 , A61B34/37 , A61B46/10 , A61B17/3421 , A61B34/00 , A61B46/23 , A61B50/00 , A61B90/98 , H01F5/02 , H01F5/04 , H01F27/2823 , H05K1/18 , A61B1/00135 , A61B1/00142 , A61B50/20 , A61B50/30 , H04N23/51 , H04N23/54 , H04N23/55 , H04N23/57 , H04N23/687 , B25J15/0066 , A61B17/3423 , B25J15/04 , A61B17/0218 , A61B17/3474 , A61M13/003 , Y10T74/20305 , A61B2017/00477
Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.
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公开(公告)号:US11559363B2
公开(公告)日:2023-01-24
申请号:US16317440
申请日:2017-06-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor: Robert E. Holop , Anthony K. McGrogan , Jeffrey R. Roeder , Daniel H. Gomez , Arjang M. Hourtash , Thomas Brennan-Marquez , Probal Mitra
IPC: A61B34/00 , A61B34/35 , A61B17/34 , A61B46/10 , B25J9/12 , B25J13/06 , B25J9/16 , A61B34/30 , A61B17/00
Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.
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