公开(公告)号：US10736490B2

公开(公告)日：2020-08-11

申请号：US16123309

申请日：2018-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/008 ,  A61B1/31 ,  A61B1/005 ,  A61B17/00

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US10952594B2

公开(公告)日：2021-03-23

申请号：US16697805

申请日：2019-11-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jay Gurusamy ,  Carson Jay Shellenberger ,  Christopher A. Julian ,  Joshua T. Oen

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B1/008 ,  A61B1/273 ,  G02B23/24

Abstract: A medical instrument may comprise a plurality of links disposed in series along an axial direction. The plurality of links also may comprise a brake assembly comprise one or more first braking components coupled to a first link in the pair of adjacent links and one or more second braking components coupled to a second link in the pair of adjacent links. The one or more first braking components and the one or more second braking components may have an interleaved arrangement with each other. The braking assembly may be actuatable between an engaged state and a disengaged state, wherein the one or more first braking components and the one or more second braking components inhibit the pair of adjacent links from pivoting relative to one another in the engaged state of the brake assembly, and wherein the one or more first braking components and the one or more second braking components permit the pair of adjacent links pivoting relative to one another in the disengaged state of the brake assembly. The one or more first braking components and the one or more second braking components may be pressed together in the engaged state of the brake assembly.

公开(公告)号：US12076102B2

公开(公告)日：2024-09-03

申请号：US16928173

申请日：2020-07-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B34/00 ,  A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

CPC classification number: A61B34/71 ,  A61B1/00128 ,  A61B1/0016 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/31 ,  A61B2017/003 ,  A61B2017/00477

Abstract: A medical instrument may comprise a first articulatable segment having a first diameter, and a second articulatable segment having a second diameter smaller than the first diameter, wherein the second articulatable segment is coupled to the first articulatable segment and extends in a distal direction past the first articulatable segment. The instrument may also comprise a first force transmission element coupled to the first articulatable segment and extending in a proximal direction from the first articulatable segment to a first connector portion, the first connector portion being configured to be releasably coupled with a first actuator, and a second force transmission element coupled to the second articulatable segment and extending in a proximal direction from the second articulatable segment to a second connector portion, the second connector portion being configured to be releasably coupled with a second actuator. The first and second force transmission elements may be configured to transmit actuation forces, respectively, to articulate the first and second articulatable segments independently of one another.

公开(公告)号：US09381067B2

公开(公告)日：2016-07-05

申请号：US14029592

申请日：2013-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher A. Julian ,  Daniel T. Wallace ,  Frederic H. Moll ,  David J. Rosa ,  John G. Freund ,  John W. Hill

IPC: A61B19/00 ,  A61B18/18 ,  A61B17/00 ,  A61B17/062 ,  A61B17/11 ,  A61B17/128 ,  A61B17/54 ,  B66C23/48 ,  A61B1/00 ,  A61B17/02 ,  A61B17/04 ,  A61B17/06 ,  A61B17/064 ,  A61B17/068 ,  A61B17/29 ,  A61B17/32 ,  A61B17/3205 ,  A61B17/28

CPC classification number: A61B18/18 ,  A61B1/00149 ,  A61B17/00234 ,  A61B17/0218 ,  A61B17/0469 ,  A61B17/06061 ,  A61B17/062 ,  A61B17/064 ,  A61B17/068 ,  A61B17/11 ,  A61B17/1285 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/32053 ,  A61B17/54 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00252 ,  A61B2017/00287 ,  A61B2017/00362 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/0243 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2825 ,  A61B2017/2829 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2931 ,  A61B2017/2937 ,  A61B2017/294 ,  A61B2017/2946 ,  A61B2034/305 ,  B66C23/48

Abstract: Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.

Abstract translation: 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。

公开(公告)号：US10105036B2

公开(公告)日：2018-10-23

申请号：US14537127

申请日：2014-11-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Christopher A. Julian ,  Amir Belson ,  Aaron W. Brown ,  Mark Harasym ,  Marc S. Kreidler ,  Robert M. Ohline ,  Scott J. Reiner ,  Enrique Romo ,  Charles E. Swinehart ,  Katherine Whitin

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/008 ,  A61B1/31 ,  A61B17/00

Abstract: A connector assembly for controllable articles is described herein. The connector assembly engages force transmission elements used to transmit force from one or more force generators with the force transmission elements used to manipulate a controllable article. Additionally, the connector assembly provides organization thereby simplifying the process of connecting a plurality of elements, usually with a quick, single movement.

公开(公告)号：US20180116735A1

公开(公告)日：2018-05-03

申请号：US15791386

申请日：2017-10-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael J. Tierney ,  Thomas G. Cooper ,  Christopher A. Julian ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  Robert G. Younge

IPC: G06Q30/02 ,  H01H36/00 ,  A61B17/00 ,  A61B18/14 ,  H01H85/00

CPC classification number: A61B34/30 ,  A61B17/00234 ,  A61B18/1445 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B46/13 ,  A61B90/361 ,  A61B90/90 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/00482 ,  A61B2034/305 ,  A61B2090/0803 ,  A61B2090/0818 ,  A61B2090/506 ,  G06Q30/02 ,  G16H40/63 ,  H01H36/0046 ,  H01H85/0056 ,  Y10S901/41 ,  Y10T74/20305 ,  Y10T74/20311

Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

公开(公告)号：US20160151908A1

公开(公告)日：2016-06-02

申请号：US14958520

申请日：2015-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce Robert Woodley ,  Joshua Oen ,  Aaron W. Brown ,  Christopher A. Julian ,  Keith P. Laby ,  Wade A. Keller ,  Lawrence Kerver ,  Marc S. Kriedler ,  Scott J. Reiner ,  Katherine Whitin

IPC: B25J9/06 ,  B25J18/06 ,  A61B1/005 ,  F16C1/10

CPC classification number: B25J9/065 ,  A61B1/0053 ,  A61B1/0055 ,  A61B1/0057 ,  B25J18/06 ,  F16C1/106 ,  G02B23/2476

Abstract: A steerable device may comprise an elongate, flexible body comprising a plurality of articulatable segments along at least part of a length of the body, a plurality of coil pipes extending in a spiral configuration along the articulatable segments, a plurality of tendons respectively received within the plurality of coil pipes, and an actuator coupled to the plurality of tendons, the actuator being configured to apply an actuation force to the tendons to selectively actuate articulation of the articulatable segments.

Abstract translation: 可操纵装置可以包括细长的柔性主体，其沿主体的长度的至少一部分包括多个可铰接部分，多个线圈管沿着可铰接部分沿螺旋形构造，多个筋分别容纳在该内部 多个线圈管和联接到所述多个腱的致动器，所述致动器被配置为向所述腱施加致动力以选择性地致动所述可铰接节段的关节。

公开(公告)号：US20140018824A1

公开(公告)日：2014-01-16

申请号：US14029592

申请日：2013-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher A. Julian ,  Daniel T. Wallace ,  Frederick H. Moll ,  Dean F. Hoornaert ,  David J. Rosa ,  John G. Freund ,  John W. Hill

IPC: A61B19/00 ,  A61B18/18

CPC classification number: A61B18/18 ,  A61B1/00149 ,  A61B17/00234 ,  A61B17/0218 ,  A61B17/0469 ,  A61B17/06061 ,  A61B17/062 ,  A61B17/064 ,  A61B17/068 ,  A61B17/11 ,  A61B17/1285 ,  A61B17/29 ,  A61B17/320016 ,  A61B17/32053 ,  A61B17/54 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B34/76 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00252 ,  A61B2017/00287 ,  A61B2017/00362 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/0243 ,  A61B2017/1107 ,  A61B2017/1135 ,  A61B2017/2825 ,  A61B2017/2829 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2931 ,  A61B2017/2937 ,  A61B2017/294 ,  A61B2017/2946 ,  A61B2034/305 ,  B66C23/48

Abstract: Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. The accessories can be introduced into the surgical site by a dedicated accessory introducer, or can be supported on the body of a surgical tool inserted into the surgical site and be manipulated using another surgical tool in the surgical site. The accessory introducer can be resiliently biased to bias the accessories toward a predetermined position in the surgical site.

Abstract translation: 手术附件在体内呈现，并在手术部位使用外科手术工具进行附加任务，而无需从手术部位移除刀具以进行换刀或仪器装载。 附件可以通过专用的辅助引导器被引入外科手术部位，或者可以被支撑在插入手术部位的外科手术工具的主体上，并且使用外科手术部位中的另一外科手术工具进行操作。 附件引导器可以被弹性地偏置以将附件偏压到手术部位中的预定位置。