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公开(公告)号：US20230119775A1
公开(公告)日：2023-04-20
申请号：US17980058
申请日：2022-11-03
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.
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公开(公告)号：US20210015566A1
公开(公告)日：2021-01-21
申请号：US17043550
申请日：2019-03-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Bram Gilbert Antoon LAMBRECHT , Arjang M. HOURTASH , Saleh TABANDEH
Abstract: A system, e.g., a computer-aided medical system, includes a first link, a second link, a joint, and a dual brake assembly. The first link has a first end portion and a second end portion. The second link has a first end portion and a second end portion. The joint is connected to the second end portion of the first link and to the first end portion of the second link. The dual brake assembly is coupled to the first link and to the second link. The dual brake assembly includes a first brake and a second brake. Braking provided by the dual brake assembly reduces relative motion between the first and second links.
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公开(公告)号：US20230355328A1
公开(公告)日：2023-11-09
申请号：US18223324
申请日：2023-07-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bram Gilbert Antoon LAMBRECHT , Thomas G. COOPER
CPC classification number: A61B34/30 , A61B17/00 , A61B2090/031
Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.
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公开(公告)号：US20220071727A1
公开(公告)日：2022-03-10
申请号：US17529967
申请日：2021-11-18
Applicant: Intuitive Surgical Operations, Inc.
Abstract: A medical instrument includes cable pairs respectively wound around input spindles and connected to actuate degrees of freedom of an instrument shaft structure. The cables may connect so that rotating the input spindles actuates corresponding degrees of freedom. First pulleys in the instrument may receive first cables from the input spindles and redirect the first cables toward the instrument shaft, and second pulleys may receive second cables from the input spindles and redirect the second cables toward the instrument shaft. In one configuration, the first and second pulleys are respectively mounted at first and second levels, and the second pulleys redirect the second cables through the first level. Additionally or alternatively, one level of cables may cross while the other level of cables does not.
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公开(公告)号：US20190298323A1
公开(公告)日：2019-10-03
申请号：US16317214
申请日：2017-06-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bram Gilbert Antoon LAMBRECHT , Thomas G. COOPER
Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.
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Patent Agency Ranking
公开(公告)号：US20190231451A1
公开(公告)日：2019-08-01
申请号：US16317211
申请日：2017-06-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bram Gilbert Antoon LAMBRECHT , Thomas G. COOPER
CPC classification number: A61B34/30 , A61B90/50 , A61B2017/00477 , A61B2034/302 , F16H55/17
Abstract: A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.
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公开(公告)号：US20240285358A1
公开(公告)日：2024-08-29
申请号：US18654998
申请日：2024-05-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Bram Gilbert Antoon LAMBRECHT , Arjang M. HOURTASH , Saleh TABANDEH
CPC classification number: A61B34/30 , A61B34/35 , B25J19/0004 , A61B2017/00973 , A61B34/74
Abstract: Techniques for braking a joint include a system having a first link, a second link, a joint connecting the first link and the second link, and a dual brake assembly. The dual brake assembly includes a first brake and a second brake. Braking the dual brake assembly reduces relative motion between the first and second links. The first brake provides a first brake holding strength when engaged, the second brake provides a second brake holding strength when engaged, and the second brake holding strength is different from the first brake holding strength. When the dual brake assembly is unpowered, the first brake is automatically engaged and the second brake is automatically disengaged.
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公开(公告)号：US20240156551A1
公开(公告)日：2024-05-16
申请号：US18528286
申请日：2023-12-04
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bram Gilbert Antoon LAMBRECHT , Thomas G. COOPER
CPC classification number: A61B34/30 , F16H55/17 , A61B2017/00477
Abstract: A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.
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公开(公告)号：US20210338352A1
公开(公告)日：2021-11-04
申请号：US17325815
申请日：2021-05-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Mark A. DIEL , Bram Gilbert Antoon LAMBRECHT
Abstract: A surgical instrument may comprise a chassis, a shaft coupled to the chassis at the proximal end of the shaft, an end effector coupled to the shaft at the distal end of the shaft, a force transmission mechanism coupled to the chassis, and an actuation element connected between a lever arm of the force transmission mechanism and the end effector. The force transmission mechanism includes a worm drive, and the lever arm comprising a first end and a follower member at the first end of the lever arm, wherein the follower member is engaged with the worm drive and is configured to be driven by the worm drive. Rotational movement of the worm drive imparts translational movement to the actuation element via the lever arm, and the lever arm slides along a generally linear direction relative to the chassis to impart the translational movement to the actuation element.
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公开(公告)号：US20210315648A1
公开(公告)日：2021-10-14
申请号：US17242918
申请日：2021-04-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bram Gilbert Antoon LAMBRECHT , Thomas G. COOPER
Abstract: An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.
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