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1.发明公开公开(公告)号：US20240024054A1
公开(公告)日：2024-01-25
申请号：US18481430
申请日：2023-10-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477
Abstract: Robotic surgery systems include a floor supported surgical robot with offset links. A robotic surgery system includes a surgical robot and a control system. The surgical robot includes a manipulator and a floor/pedestal mount. The manipulator includes a mounting base, a yaw joint, an offset extension link, a parallelogram linkage assembly, and an instrument holder. The floor/pedestal mount is configured for supporting the mounting base in a fixed position and orientation relative to a patient and includes set-up joints operable to reposition and reorient the mounting base to reposition a remote center of manipulation relative to the patient prior to conducting surgery on the patient via the manipulator. The manipulator includes offset links. The control system is configured to electronically communicate with and control operation of the manipulator to articulate a surgical instrument during surgery.
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2.发明申请公开(公告)号：US20200146763A1
公开(公告)日：2020-05-14
申请号：US16742008
申请日：2020-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.
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公开(公告)号：US20190328468A1
公开(公告)日：2019-10-31
申请号：US16508526
申请日：2019-07-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
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4.发明申请REDUNDANT AXIS AND DEGREE OF FREEDOM FOR HARDWARE-CONSTRAINED REMOTE CENTER ROBOTIC MANIPULATOR 有权硬件限制远程机器人机器人的冗余轴和自由度公开(公告)号：US20130325031A1
公开(公告)日：2013-12-05
申请号：US13906888
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477 , A61B2034/305
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。
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公开(公告)号：US10390894B2
公开(公告)日：2019-08-27
申请号：US15139224
申请日：2016-08-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
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Patent Agency Ranking
公开(公告)号：US09339344B2
公开(公告)日：2016-05-17
申请号：US13906949
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
CPC classification number: A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/506
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴与第一轴成90度角以外的非零角度偏移。
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公开(公告)号：US20160346050A1
公开(公告)日：2016-12-01
申请号：US15139224
申请日：2016-08-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
CPC classification number: A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/506
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴与第一轴成90度角以外的非零角度偏移。
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公开(公告)号：US11737834B2
公开(公告)日：2023-08-29
申请号：US16508526
申请日：2019-07-11
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger
IPC: A61B34/30 , A61B34/37 , B25J9/00 , B25J9/16 , A61B17/00 , A61B90/50 , B25J9/10 , B25J17/02 , B25J18/00
CPC classification number: A61B34/30 , A61B34/37 , B25J9/003 , B25J9/1689 , A61B2017/00477 , A61B2090/506 , B25J9/1065 , B25J17/0241 , B25J18/007
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
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9.发明申请公开(公告)号：US20230082740A1
公开(公告)日：2023-03-16
申请号：US17949549
申请日：2022-09-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
Abstract: A surgical system includes a manipulator, a surgical tool and a control system. The manipulator includes a manipulator mounting base, a pitch mechanism, a roll mechanism and a redundant rotation mechanism. The surgical tool is supported by the manipulator and has a tool shaft axis. The pitch mechanism rotates the surgical tool around a pitch axis. The roll mechanism rotates the surgical tool around a roll axis transverse to the pitch axis. The redundant rotation mechanism rotates the surgical tool around a redundant rotation axis. Each of the tool shaft axis, the pitch axis and the roll axis intersect at a remote center. The control system is configured to electronically communicate with and control operation of the manipulator to articulate the surgical tool during surgery.
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10.发明授权公开(公告)号：US09295524B2
公开(公告)日：2016-03-29
申请号：US13906888
申请日：2013-05-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce Michael Schena , Roman L. Devengenzo , Gary C. Ettinger , Eugene F. Duval , Nicola Diolaiti , Daniel H. Gomez
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B2017/00477 , A61B2034/305
Abstract: A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is not coincident with the first axis. Third and fourth links of the linkage are coupled to limit motion of the fourth link to rotation about a third axis intersecting the remote center of manipulation. The third axis is not coincident with either of the first and second axes. Various combinations of hardware-constrained remote center of motion robotic manipulators with redundant mechanical degrees of freedom are disclosed.
Abstract translation: 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴不与第一轴重合。 联动装置的第三和第四连杆被联接以将第四连杆的运动限制在围绕与远程操纵中心相交的第三轴线的旋转。 第三轴与第一轴和第二轴之一不一致。 公开了具有冗余机械自由度的硬件受限的远程运动机器人操纵器的各种组合。
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