公开(公告)号：US10390898B2

公开(公告)日：2019-08-27

申请号：US14806331

申请日：2015-07-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian D. Jensen ,  Larry L. Howell ,  Spencer P. Magleby ,  Bryce Edmondson ,  Jordan Tanner ,  Clayton Grames ,  Jason Lund

IPC: A61B34/00 ,  F16H55/08 ,  F16H55/22 ,  B25J9/10 ,  A61B34/30 ,  B25J17/02 ,  F16H19/00 ,  A61B17/00 ,  A61B17/29

Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.

公开(公告)号：US10251718B2

公开(公告)日：2019-04-09

申请号：US14806331

申请日：2015-07-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brian D. Jensen ,  Larry L. Howell ,  Spencer P. Magleby ,  Bryce Edmondson ,  Jordan Tanner ,  Clayton Grames

IPC: A61B34/00 ,  F16H55/08 ,  F16H55/22 ,  B25J9/10 ,  A61B34/30 ,  B25J17/02 ,  F16H19/00 ,  A61B17/00 ,  A61B17/29

CPC classification number: A61B34/71 ,  A61B34/30 ,  A61B2017/0069 ,  A61B2017/2927 ,  A61B2034/305 ,  A61B2034/306 ,  B25J9/104 ,  B25J17/0258 ,  F16H19/001 ,  F16H55/0813 ,  F16H55/082 ,  F16H55/22

Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.

公开(公告)号：US11123145B2

公开(公告)日：2021-09-21

申请号：US16096985

申请日：2017-04-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jason Dearden ,  Jordan Tanner ,  Clayton Grames ,  Bryce Edmondson ,  Brian D. Jensen ,  Spencer P. Magleby ,  Larry L. Howell

IPC: A61B34/30 ,  A61B17/29 ,  B25J9/10 ,  B25J15/02 ,  A61B34/00

Abstract: The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.

公开(公告)号：US12186047B2

公开(公告)日：2025-01-07

申请号：US17403378

申请日：2021-08-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jason Dearden ,  Jordan Tanner ,  Clayton Grames ,  Bryce Edmondson ,  Brian D. Jensen ,  Spencer P. Magleby ,  Larry L. Howell

IPC: A61B34/00 ,  A61B17/29 ,  A61B34/30 ,  B25J9/10 ,  B25J15/02

Abstract: The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.

公开(公告)号：US11007028B2

公开(公告)日：2021-05-18

申请号：US16290809

申请日：2019-03-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Jensen ,  Larry L. Howell ,  Spencer P. Magleby ,  Bryce Edmondson ,  Jordan Tanner ,  Clayton Grames

IPC: A61B34/00 ,  F16H55/08 ,  F16H55/22 ,  B25J9/10 ,  B25J17/02 ,  A61B34/30 ,  A61B17/00 ,  A61B17/29 ,  F16H19/00

Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.

公开(公告)号：US20190192248A1

公开(公告)日：2019-06-27

申请号：US16290809

申请日：2019-03-01

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Jensen ,  Larry L. Howell ,  Spencer P. Magleby ,  Bryce Edmondson ,  Jordan Tanner ,  Clayton Grames

IPC: A61B34/00 ,  B25J17/02 ,  A61B34/30 ,  F16H55/08 ,  F16H55/22 ,  B25J9/10

CPC classification number: A61B34/71 ,  A61B34/30 ,  A61B2017/0069 ,  A61B2017/2927 ,  A61B2034/305 ,  A61B2034/306 ,  B25J9/104 ,  B25J17/0258 ,  F16H19/001 ,  F16H55/0813 ,  F16H55/082 ,  F16H55/22

Abstract: According to an aspect, a device may include a first member, a second member, and a wrist mechanism disposed between the first member and the second member. The wrist mechanism may include a first cylinder portion coupled to the first member, and a second cylinder portion coupled to the second member. The first cylinder portion may be rollably engaged with the second cylinder portion such that movement of the first cylinder portion with respect to the second cylinder portion is configured to cause the first member to move in at least two directions with respect to the second member. The second cylinder portion may be positioned with respect to the first cylinder portion such that a longitudinal axis of the second cylinder portion is orthogonal to a longitudinal axis of the first cylinder portion.