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公开(公告)号：US11382644B2
公开(公告)日：2022-07-12
申请号：US16327078
申请日：2017-08-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Benjamin J. Schoettgen , David Robinson , Pushkar Hingwe , Patrick Flanagan
Abstract: Surgical instruments and assemblies for sealing and cutting tissue monitor jaw angle and/or jaw clamping force to provide feedback to an operator of the surgical instrument indicative of whether the tissue is suitable clamped for sealing and/or cutting. A surgical instrument or assembly includes a jaw operable to clamp tissue, a sealing mechanism, a cutting mechanism, an actuation monitoring assembly, and a feedback assembly. The actuation monitoring assembly monitors jaw angle and/or clamping force. The feedback assembly outputs feedback to the operator, based on the jaw angle and/or clamping force, as to whether the current clamping angle and/or jaw angle is suitable for sealing and/or clamping tissue.
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公开(公告)号：US09999472B2
公开(公告)日：2018-06-19
申请号：US15364114
申请日：2016-11-29
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Weir , Grant Duque , Kevin Durant , Patrick Flanagan , Margaret M. Nixon , David Robinson , John Zabinski
IPC: A61B34/00 , A61B17/072 , A61B17/00 , A61B17/28 , B25J9/16 , A61B90/00 , A61B34/37 , A61B17/29 , G06F3/14 , A61B34/30 , G06F3/01 , G06F3/16
CPC classification number: A61B34/25 , A61B17/00 , A61B17/07207 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/37 , A61B90/06 , A61B90/08 , A61B2017/00115 , A61B2017/00132 , A61B2017/2808 , A61B2034/254 , A61B2034/301 , A61B2090/064 , A61B2090/0811 , B25J9/1694 , G06F3/016 , G06F3/14 , G06F3/16
Abstract: End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.
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公开(公告)号：US09840276B2
公开(公告)日：2017-12-12
申请号：US15463740
申请日：2017-03-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. Griffiths , Paul W. Mohr , Alan W. Petersen , David Robinson , Nitish Swarup , Mark W. Zimmer , Alexander Makhlin , Julio Santos-Munne , Eric Faulring , Thomas Moyer
IPC: B62D6/10 , B62D1/12 , A61B50/10 , A61B50/13 , A61B34/35 , A61B90/00 , A61B50/18 , A61B17/00 , A61B34/30
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.
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公开(公告)号：US11919154B2
公开(公告)日：2024-03-05
申请号：US17140420
申请日：2021-01-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC: B62B5/04 , A61B34/00 , A61B34/30 , A61B34/35 , A61B50/13 , B25J5/00 , B25J19/00 , A61B17/00 , A61B90/00
CPC classification number: B25J19/0091 , A61B34/30 , A61B34/35 , A61B34/70 , A61B50/13 , B25J5/007 , A61B2017/00539 , A61B2090/064 , B62B5/049
Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.
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公开(公告)号：US20190201022A1
公开(公告)日：2019-07-04
申请号：US16327078
申请日：2017-08-22
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Benjamin J. Schoettgen , David Robinson , Pushkar Hingwe , Patrick Flanagan
IPC: A61B17/29
CPC classification number: A61B17/29 , A61B17/07207 , A61B17/28 , A61B18/1445 , A61B2017/00115 , A61B2017/00734 , A61B2018/00601 , A61B2018/0063 , A61B2018/1455 , A61B2090/065 , A61B2090/067 , A61B2090/0811
Abstract: Surgical instruments and assemblies for sealing and cutting tissue monitor jaw angle and/or jaw clamping force to provide feedback to an operator of the surgical instrument indicative of whether the tissue is suitable clamped for sealing and/or cutting. A surgical instrument or assembly includes a jaw operable to clamp tissue, a sealing mechanism, a cutting mechanism, an actuation monitoring assembly, and a feedback assembly. The actuation monitoring assembly monitors jaw angle and/or clamping force. The feedback assembly outputs feedback to the operator, based on the jaw angle and/or clamping force, as to whether the current clamping angle and/or jaw angle is suitable for sealing and/or clamping tissue.
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Patent Agency Ranking
公开(公告)号：US09877718B2
公开(公告)日：2018-01-30
申请号：US14949827
申请日：2015-11-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Weir , Kevin Durant , Patrick Flanagan , David Robinson
IPC: A61B17/072 , A61B17/068 , A61B17/115 , A61B17/00 , A61B90/00
CPC classification number: A61B17/068 , A61B17/0686 , A61B17/072 , A61B17/07207 , A61B17/115 , A61B2017/00115 , A61B2017/00398 , A61B2017/07214 , A61B2090/064 , A61B2090/0811
Abstract: Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.
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公开(公告)号：US09814530B2
公开(公告)日：2017-11-14
申请号：US14635908
申请日：2015-05-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Weir , Grant Duque , Kevin Durant , Patrick Flanagan , Margaret M. Nixon , David Robinson , John Zabinski
IPC: G05B19/425 , A61B19/00 , A61B17/072 , A61B17/28 , B25J9/16 , A61B17/00
CPC classification number: A61B34/25 , A61B17/00 , A61B17/07207 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/37 , A61B90/06 , A61B90/08 , A61B2017/00115 , A61B2017/00132 , A61B2017/2808 , A61B2034/254 , A61B2034/301 , A61B2090/064 , A61B2090/0811 , B25J9/1694 , G06F3/016 , G06F3/14 , G06F3/16
Abstract: End effectors with closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.
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公开(公告)号：US09662177B2
公开(公告)日：2017-05-30
申请号：US14635866
申请日：2015-03-02
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Weir , Grant Duque , Kevin Durant , Patrick Flanagan , Margaret M. Nixon , David Robinson , John Zabinski
CPC classification number: A61B34/25 , A61B17/00 , A61B17/07207 , A61B17/28 , A61B17/29 , A61B34/30 , A61B34/37 , A61B90/06 , A61B90/08 , A61B2017/00115 , A61B2017/00132 , A61B2017/2808 , A61B2034/254 , A61B2034/301 , A61B2090/064 , A61B2090/0811 , B25J9/1694 , G06F3/016 , G06F3/14 , G06F3/16
Abstract: End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaws, measuring the separation parameter between the jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.
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公开(公告)号：US10899021B2
公开(公告)日：2021-01-26
申请号：US16860569
申请日：2020-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC: B25J19/00 , A61B50/13 , A61B34/30 , A61B34/35 , A61B34/00 , B25J5/00 , A61B17/00 , A61B90/00 , B62B5/04
Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
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公开(公告)号：US10071488B2
公开(公告)日：2018-09-11
申请号：US15126770
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
CPC classification number: B25J19/0091 , A61B34/30 , A61B34/35 , A61B34/70 , A61B50/13 , A61B2017/00539 , A61B2090/064 , B25J5/007 , B62B5/049
Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.
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