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    Cable drive limited slip capstan and shaft
    1.
    发明授权
    Cable drive limited slip capstan and shaft 有权

    公开(公告)号：US12048504B2

    公开(公告)日：2024-07-30

    申请号：US17293909

    申请日：2019-11-15

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Grant M. Kadokura

    IPC分类号： A61B34/00 ,  A61B34/30 ,  A61B34/35

    CPC分类号： A61B34/71 ,  A61B34/35 ,  A61B34/76 ,  A61B2034/302 ,  A61B2034/715

    摘要： Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop shoulders, the second tooth including first and second circumferentially spaced second tooth slip-stop shoulders, the first and second capstans arranged such that abutting contact between the first and second slip-stop shoulders can halt capstan rotation about the drive shaft in one direction, and abutting contact between the second first and second slip-stop shoulders can halt capstan rotation about the drive shaft in an opposite direction. Halting capstan rotation prevents a cable wrapped around a capstan from paying out and causing misalignment with an end effector controlled by the cable.

    SURGICAL INSTRUMENT STEERING INPUTS
    2.
    发明申请
    SURGICAL INSTRUMENT STEERING INPUTS 审中-公开

    公开(公告)号：US20200237465A1

    公开(公告)日：2020-07-30

    申请号：US16845808

    申请日：2020-04-10

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Grant M. Kadokura ,  William A. McDonald, II

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

    摘要： A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.

    CABLE DRIVE LIMITED SLIP CAPSTAN AND SHAFT
    5.
    发明申请
    CABLE DRIVE LIMITED SLIP CAPSTAN AND SHAFT 有权

    公开(公告)号：US20220015847A1

    公开(公告)日：2022-01-20

    申请号：US17293909

    申请日：2019-11-15

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Grant M. Kadokura

    IPC分类号： A61B34/00 ,  A61B34/35

    摘要： Capstan slip-stop shoulders limit relative rotation of capstans: a drive is shaft rotatably inserted within first and second axially aligned annular capstans, the first capstan including a first tooth extending parallel to the drive shaft in a first direction, the second capstan including a second tooth extending parallel to the drive shaft in a second direction opposite the first direction, the first tooth including first and second circumferentially spaced first tooth slip-stop shoulders, the second tooth including first and second circumferentially spaced second tooth slip-stop shoulders, the first and second capstans arranged such that abutting contact between the first and second slip-stop shoulders can halt capstan rotation about the drive shaft in one direction, and abutting contact between the second first and second slip-stop shoulders can halt capstan rotation about the drive shaft in an opposite direction. Halting capstan rotation prevents a cable wrapped around a capstan from paying out and causing misalignment with an end effector controlled by the cable.

    Surgical instrument steering inputs
    7.
    发明授权
    Surgical instrument steering inputs 有权

    公开(公告)号：US11013568B2

    公开(公告)日：2021-05-25

    申请号：US16845808

    申请日：2020-04-10

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Grant M. Kadokura ,  William A. McDonald, II

    IPC分类号： A61B34/00 ,  A61B17/00 ,  A61B34/30 ,  A61B17/29 ,  A61B17/16 ,  A61B90/00

    摘要： A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.

    END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER
    8.
    发明申请
    END EFFECTOR FORCE FEEDBACK TO MASTER CONTROLLER 审中-公开

    公开(公告)号：US20200237461A1

    公开(公告)日：2020-07-30

    申请号：US16753298

    申请日：2018-10-02

    申请人： Intuitive Surgical Operations, Inc.

    发明人： Grant M. Kadokura

    IPC分类号： A61B34/37 ,  A61B34/35

    摘要： A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.

    CONSTRAINT MECHANISMS, SYSTEMS, AND METHODS
    10.
    发明公开
    CONSTRAINT MECHANISMS, SYSTEMS, AND METHODS 审中-公开

    公开(公告)号：US20230286179A1

    公开(公告)日：2023-09-14

    申请号：US18318360

    申请日：2023-05-16

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Grant M. Kadokura ,  Andrew C. Waterbury

    IPC分类号： B25J18/00 ,  F16H19/00

    CPC分类号： B25J18/00 ,  F16H19/005 ,  F16H2019/008

    摘要： A tool includes a transmission mechanism, a shaft, and a rotary device. The shaft is rotatable with reference to the transmission mechanism through a defined range of rotational motion about a first axis of rotation and includes a protrusion extending from the shaft in a direction normal to the first axis of rotation. The rotary device includes a first stop surface, a second stop surface, and a notch between the first stop surface and the second stop surface, with the notch configured to receive the protrusion extending from the shaft. Rotation of the shaft through a midpoint of the range of rotational motion causes the protrusion to enter the notch of the rotary device and rotate the rotary device from a first position to a second position.