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    Systems and methods for a compact remote center manipulator
    1.
    发明授权
    Systems and methods for a compact remote center manipulator 有权

    公开(公告)号：US11957427B2

    公开(公告)日：2024-04-16

    申请号：US17330672

    申请日：2021-05-26

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

    IPC: B25J9/10 ,  A61B34/00 ,  A61B34/35 ,  F16H7/08

    CPC classification number: A61B34/71 ,  A61B34/35 ,  B25J9/106 ,  F16H7/08 ,  F16H2007/0865

    Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.

    Systems and methods for configuring components in a minimally invasive instrument
    2.
    发明授权
    Systems and methods for configuring components in a minimally invasive instrument 有权

    公开(公告)号：US11471066B2

    公开(公告)日：2022-10-18

    申请号：US16752064

    申请日：2020-01-24

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Anoop B. Kowshik ,  Caitlin Q. Donhowe ,  Vincent Duindam ,  Carolyn M. Fenech

    IPC: A61B5/00 ,  A61B5/06 ,  A61B34/20 ,  A61M25/01 ,  A61B90/00 ,  A61B34/30

    Abstract: A robotic system includes a manipulator assembly including at least one actuator, a control system including at least one processor configured to control the manipulator assembly, an elongate flexible catheter configured to be manipulated by the at least one actuator, and a support structure mounted on a proximal portion of the elongate flexible catheter. The support structure includes a first alignment feature and a second alignment feature. The first alignment feature is configured to mate with a first sensor such that the first sensor is maintained parallel to a longitudinal axis of the support structure. The second alignment feature is configured to mate with a second sensor such that the second sensor is maintained parallel to the longitudinal axis of the support structure and such that the second sensor is fixed relative to the first sensor in at least one degree of freedom.

    Flexible surgical devices
    3.
    发明授权
    Flexible surgical devices 有权

    公开(公告)号：US10813629B2

    公开(公告)日：2020-10-27

    申请号：US15824534

    申请日：2017-11-28

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Katherine D. Stoy ,  Giuseppe Maria Prisco ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech

    IPC: A61B17/00 ,  A61B34/00 ,  A61B34/30

    Abstract: A medical device comprises a tube including a wall with a plurality of slits oriented generally transverse to a longitudinal axis of the tube and defined by opposing surfaces. A pair of force transmission elements is actuatable to alter the tube between a flexible state and a stiffened state. A first force transmission element of the pair is coupled to an opposite side of the tube from the second force transmission element of the pair. The surgical device also includes a plurality of routing members coupled to the wall of the tube and configured to receive and route the force transmission elements along a length of the tube while permitting the length of the tube to flex and compress. Equal tension forces applied to the pair of force transmission elements compress the tube to create the stiffened state by deforming regions of the tube disposed between the plurality of slits.

    Catheter sensor systems
    5.
    发明授权
    Catheter sensor systems 有权

    公开(公告)号：US12127797B2

    公开(公告)日：2024-10-29

    申请号：US16735396

    申请日：2020-01-06

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Carolyn M. Fenech ,  Vincent Duindam ,  Giuseppe Maria Prisco

    IPC: A61B34/20 ,  A61B5/06 ,  A61B34/10 ,  A61M25/01 ,  A61B34/30

    CPC classification number: A61B34/20 ,  A61B5/062 ,  A61B34/10 ,  A61M25/0127 ,  A61M25/0147 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/302

    Abstract: A medical system may comprise a catheter that includes an elongate body and a main lumen extending longitudinally through the elongate body. The medical system may also comprise a vision probe that includes a tube extendable through the main lumen of the catheter and comprising a flexible body having an outermost wall and an innermost wall, the innermost wall defining a central lumen. The flexible body contains a plurality of channels formed within the flexible body of the tube and separated from the central lumen by the innermost wall. The plurality of channels includes oblong channels for irrigation and suction and auxiliary channels. The oblong channels have concentric arc shaped surfaces forming an arcuate channel cross-section. The auxiliary channels have a different shape than the one or more oblong channels. The vision probe also includes an imaging system and illumination fibers running through respective auxiliary channels in the tube.

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