公开(公告)号：US12097006B2

公开(公告)日：2024-09-24

申请号：US17848030

申请日：2022-06-23

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Gregory W. Dachs, II

IPC分类号： A61B5/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B46/10 ,  A61B90/00 ,  A61B90/98 ,  A61B18/00 ,  A61B46/23 ,  F16H1/20

CPC分类号： A61B46/10 ,  A61B1/00142 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2018/00172 ,  A61B46/23 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

摘要： A medical instrument comprises an instrument control surface configured to mate with an instrument sterile adapter to receive input drive forces through the sterile adapter to control actuation of the surgical instrument, the instrument control surface comprising a first opening defined in the instrument control surface. A latch structure of the instrument comprises a locking surface configured to engage a latch arm in response to the latch arm being received in the opening, wherein in an engaged state of the latch arm with the locking surface the medical instrument is attached to the instrument sterile adapter and the latch structure prevents movement of the latch arm in a first direction. A latch release is moveable in the engaged state of the latch arm with the locking surface to exert a force causing movement of the latch arm in a second direction to disengage the latch arm from the locking surface.

公开(公告)号：US20240173092A1

公开(公告)日：2024-05-30

申请号：US18431434

申请日：2024-02-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

IPC分类号： A61B46/10 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B18/00 ,  A61B46/23 ,  F16H1/20

CPC分类号： A61B46/10 ,  A61B1/00142 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2018/00172 ,  A61B46/23 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

摘要： A method for attaching a surgical instrument to an instrument carriage includes engaging an instrument sterile adapter with an instrument carriage using a first latch mechanism of the instrument sterile adapter; and engaging a surgical instrument with the instrument sterile adapter using a second latch mechanism of the instrument sterile adapter. In an engaged state of the second latch mechanism with surgical instrument the first latch mechanism is not disengageable from the instrument carriage. The first latch mechanism and the second latch mechanism are coupled to a frame portion of the instrument sterile adapter via a connecting member.

公开(公告)号：US11850093B2

公开(公告)日：2023-12-26

申请号：US17305334

申请日：2021-07-06

申请人： Intuitive Surgical Operations, Inc.

发明人： Matthew R. Williams ,  Gregory W. Dachs, II ,  David Shafer

IPC分类号： A61B18/20 ,  A61B8/00 ,  A61B18/22 ,  A61B8/12 ,  A61B34/00 ,  A61B90/30 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00

CPC分类号： A61B8/4488 ,  A61B8/12 ,  A61B8/445 ,  A61B18/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/30 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2018/2025 ,  A61B2034/305 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/378

摘要： In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

公开(公告)号：US11717370B2

公开(公告)日：2023-08-08

申请号：US16403304

申请日：2019-05-03

申请人： Intuitive Surgical Operations, Inc.

发明人： Gregory W. Dachs, II

IPC分类号： A61B34/30 ,  A61B46/10 ,  A61B34/37 ,  A61B1/00 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

CPC分类号： A61B46/10 ,  A61B1/00142 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B46/23 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

摘要： A surgical instrument includes a proximal control mechanism. The proximal control mechanism has an opening through which a resilient latch arm can be inserted to engage a locking surface of a fixed latch structure contained within the proximal control mechanism. The resilient latch arm is contained entirely within the proximal control mechanism when engaged. A release channel extends from an outer periphery of the proximal control mechanism to the resilient latch arm entrance opening. The release channel provides a passage through which a release tool can be inserted to engage the resilient latch arm and provides a fulcrum for the release tool where the release channel is joined to the outer periphery of the proximal control mechanism. The surgical instrument can be released by prying the resilient latch arm away from the locking surface of the fixed latch structure with the release tool used as a lever on the fulcrum.

公开(公告)号：US11690689B2

公开(公告)日：2023-07-04

申请号：US17133877

申请日：2020-12-24

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC分类号： B25J19/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  B25J19/02 ,  B25J19/04

CPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  B25J19/02 ,  B25J19/021 ,  B25J19/023 ,  B25J19/04

摘要： Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

公开(公告)号：US11660152B2

公开(公告)日：2023-05-30

申请号：US16998838

申请日：2020-08-20

申请人： Intuitive Surgical Operations, Inc.

发明人： Gregory W. Dachs, II ,  Todd E. Murphy ,  William A. Burbank ,  William A. McDonald, II ,  Bruce Michael Schena

IPC分类号： A61B34/30 ,  A61B17/072 ,  A61B34/00 ,  A61B17/00 ,  H04W84/12 ,  A61B17/29 ,  A61B17/068 ,  A61B17/115

CPC分类号： A61B34/30 ,  A61B17/07207 ,  A61B34/71 ,  A61B17/068 ,  A61B17/072 ,  A61B17/115 ,  A61B2017/00477 ,  A61B2017/07214 ,  A61B2017/2902 ,  A61B2017/2927 ,  A61B2034/302 ,  H04W84/12

摘要： Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.

公开(公告)号：US20220000452A1

公开(公告)日：2022-01-06

申请号：US17305334

申请日：2021-07-06

申请人： Intuitive Surgical Operations, Inc.

发明人： Matthew R. Williams ,  Gregory W. Dachs, II ,  David Shafer

IPC分类号： A61B8/00 ,  A61B18/22 ,  A61B8/12 ,  A61B34/00 ,  A61B90/30 ,  A61B34/30 ,  A61B34/37

摘要： In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.

公开(公告)号：US11045274B2

公开(公告)日：2021-06-29

申请号：US16748419

申请日：2020-01-21

申请人： Intuitive Surgical Operations, Inc.

发明人： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir H. Chaghajerdi ,  Niels Smaby ,  Tyler J. Morrissette

IPC分类号： A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

摘要： An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A sensor fixed relative to the instrument carriage detects a position of the detection pin. A carriage controller coupled to the sensor, provides a signal that indicates at least a first state and a second state responsive to a distance between the distal end of the detection pin and the control surface. The signal may indicate if an instrument sterile adapter is coupled to the control surface of the instrument carriage. A third state of the signal may indicate if a surgical instrument is coupled to the instrument sterile adapter.

公开(公告)号：US10898288B2

公开(公告)日：2021-01-26

申请号：US16543826

申请日：2019-08-19

申请人： Intuitive Surgical Operations, Inc.

发明人： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Donald Alden ,  Edward P. Donlon ,  Scott Harrington ,  Craig Tsuji ,  William A. Burbank

IPC分类号： A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00 ,  A61B46/23 ,  F16H1/20

摘要： An instrument sterile adapter (310) couples a surgical instrument (120) and an instrument carriage (130). The instrument sterile adapter (310) includes an instrument plate (430) that provides a first surface to receive the surgical instrument (120) and a latch plate (400) joined to the instrument plate (430). The latch plate (400) includes a second surface to receive the instrument carriage (130) and latch structures. Each latch structure has a carriage latch arm (410) that extends away from the second surface of the latch plate (400) and an instrument latch arm (405) joined to the carriage latch arm (410). The instrument latch arm (405) extends through the instrument plate (430) and away from the first surface of the instrument plate (430). A connecting member (425) flexibly connects the carriage latch arm (410) and the instrument latch arm (405) to a remainder of the latch plate (400). The connecting member (425) may be perpendicular to the latch arms (405). The latch arms (405) may engage fixed locking surfaces in the instrument carriage (130) and the surgical instrument (120).

公开(公告)号：US20200222139A1

公开(公告)日：2020-07-16

申请号：US16829856

申请日：2020-03-25

申请人： Intuitive Surgical Operations, Inc.

发明人： Gregory W. Dachs, II ,  Tyler J. Morrissette ,  Bruce Michael Schena

IPC分类号： A61B46/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  A61B17/00

摘要： A medical device includes an instrument sterile adapter (ISA) that includes a first plate and a second plate. The first plate includes a mounting surface and a plurality of landing pads. The mounting surface provides a first datum plane for mounting the ISA on a carriage that includes actuators. The plurality of landing pads extend through the second plate and provide a second datum plane for a surgical instrument coupled to the ISA such that the first datum plane and the second datum plane are parallel surfaces separated by a fixed distance. The medical device may include a plastic sheet having opposing first and second sides with the first plate located on the first side and the second plate located on the second side. The instrument sterile drape may include a pouch shaped to fit around the carriage with the ISA capturing the pouch between the top and bottom plates.