公开(公告)号：US20210378771A1

公开(公告)日：2021-12-09

申请号：US17330672

申请日：2021-05-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/10

Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.

公开(公告)号：US20240216095A1

公开(公告)日：2024-07-04

申请号：US18605516

申请日：2024-03-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/10 ,  F16H7/08

CPC classification number: A61B34/71 ,  A61B34/35 ,  B25J9/106 ,  F16H7/08 ,  F16H2007/0865

Abstract: A surgical manipulator linkage assembly may comprise a linkage arm that includes a first pulley and a second pulley. Each of the first pulley and the second pulley comprise a first drive track and a second drive track. The first drive track and the second drive track are substantially co-planar, and the first drive track extends at least partially around the second drive track. The linkage arm also includes a first drive member section extending between the first drive tracks of the first pulley and the second pulley. The linkage arm also includes a second drive member section extending between the second drive tracks of the first pulley and the second pulley. The first drive member section is wound around the first pulley in a first tensile direction and the second drive member section is wound around the first pulley in a opposite second tensile direction.

公开(公告)号：US11957427B2

公开(公告)日：2024-04-16

申请号：US17330672

申请日：2021-05-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Carolyn M. Fenech ,  Daniel H. Gomez ,  Jason N. Stamatelaky

IPC: B25J9/10 ,  A61B34/00 ,  A61B34/35 ,  F16H7/08

CPC classification number: A61B34/71 ,  A61B34/35 ,  B25J9/106 ,  F16H7/08 ,  F16H2007/0865

Abstract: A manipulator for a surgical instrument may comprise an instrument holder coupled with the surgical instrument and rotatable in a plane that passes through a remote center. The manipulator may also comprise a linkage assembly coupled to the instrument holder to limit motion of the instrument holder to rotation about an axis that intersects the remote center. The linkage assembly may comprise a first linkage arm comprising first and second pulleys. Each pulley may comprise first and second drive tracks which are substantially co-planar. The first linkage arm may also comprise a first drive member section extending between the first drive tracks of the pulleys and a second drive member section extending between the second drive tracks of the pulleys. The first drive member section may be wound around the first pulley in a first direction and the second drive member section may be wound around the first pulley in an opposite direction.