公开(公告)号：US20200282570A1

公开(公告)日：2020-09-10

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/30 ,  A61B34/00

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20230390007A1

公开(公告)日：2023-12-07

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US20190298469A1

公开(公告)日：2019-10-03

申请号：US16317285

申请日：2017-06-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. RAMSTAD ,  Jeffrey R. ROEDER ,  Jeffrey D. BROWN ,  Robert E. HOLOP ,  Anthony K. McGROGAN

IPC: A61B46/10 ,  A61B34/30

Abstract: A sterile surgical drape includes at least one assembly for managing and retaining sterile surgical drape on a part of a computer-assisted surgical system. For example, an assembly for managing and retaining sterile surgical drape is used to configure the surgical drape on a portion of the computer-assisted surgical system so that the sterility of sterile portions of the surgical drape is not compromised, and so that the physical integrity of the surgical drape is not compromised. Any one of a hinged cinch assembly, a hinged cinch and attachment element assembly, and an alignment and attachment element assembly, or any combination of the hinged cinch assembly, the hinged cinch and attachment element assembly, and the alignment and attachment element assembly can be attached to a surgical drape.

公开(公告)号：US20240293942A1

公开(公告)日：2024-09-05

申请号：US18591683

申请日：2024-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. MCGROGAN ,  Thomas G. COOPER ,  David Q. LARKIN ,  Kent M. ANDERSON ,  Jeffrey D. BROWN ,  Paul E. LILAGAN ,  Michael IKEDA

IPC: B25J15/00 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B90/90

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US20240415589A1

公开(公告)日：2024-12-19

申请号：US18817330

申请日：2024-08-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola DIOLAITI ,  Jeffrey D. BROWN ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Anthony K. MCGROGAN ,  Probal MITRA ,  Craig R. RAMSTAD

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

Abstract: Techniques for controlling a manipulator assembly include one or more actuators coupled to drive the manipulator assembly to move at least a portion of the manipulator assembly and a controller. The controller is configured to cause the one or more actuators to hold the portion at a first position in a sequence of predetermined positions; detect that the portion has been moved from the first position due to a disturbance; in response to the detection that the portion has been moved from the first position, cause the one or more actuators to move the portion toward a second position in the sequence of predetermined positions until a stop condition is detected, even if the disturbance ends before the portion reaches the second position; and cause the one or more actuators to hold the portion at the second position, when the portion has reached the second position.

公开(公告)号：US20220296322A1

公开(公告)日：2022-09-22

申请号：US17837422

申请日：2022-06-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Jeffrey D. BROWN ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Robert E. HOLOP ,  Anthony K. McGROGAN ,  Craig R. RAMSTAD ,  Theodore W. ROGERS ,  Todd R. SOLOMON

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A surgical system comprises a base, an arm assembly operably coupled to the base, and an instrument manipulator assembly coupled to a distal link of the arm assembly. The instrument manipulator assembly comprises an instrument manipulator interface to removably couple with a medical instrument and transfer actuation forces to the medical instrument. The instrument manipulator interface comprises a mounting surface and a plurality of actuator outputs to operably engage with respectively corresponding inputs of the medical instrument. The actuator outputs extend from the mounting surface along directions substantially parallel to a shaft of the medical instrument in a mounted state of the medical instrument to the instrument manipulator interface. In the mounted state of the medical instrument, the instrument manipulator interface and medical instrument are rotatable together about a roll axis of rotation relative to the distal link of the arm assembly.

公开(公告)号：US20220183780A1

公开(公告)日：2022-06-16

申请号：US17683949

申请日：2022-03-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Thomas G. COOPER ,  Jeffrey D. BROWN ,  Nicola DIOLAITI ,  Eugene F. DUVAL ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Paul E. LILAGAN ,  Anthony K. MCGROGAN ,  Craig R. RAMSTAD

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

公开(公告)号：US20200268465A1

公开(公告)日：2020-08-27

申请号：US16874163

申请日：2020-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGROGAN ,  Jeffrey D. BROWN ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Daniel H. GOMEZ ,  Robert E. HOLOP ,  Craig R. RAMSTAD

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  G03B5/02 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US20200246096A1

公开(公告)日：2020-08-06

申请号：US16851794

申请日：2020-04-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. GOMEZ ,  Jeffrey D. BROWN ,  Thomas G. COOPER ,  Eugene F. DUVAL ,  Robert E. HOLOP ,  Anthony K. McGROGAN ,  Craig R. RAMSTAD ,  Theodore W. ROGERS ,  Todd R. SOLOMON

IPC: A61B34/00 ,  A61M13/00 ,  A61B17/34 ,  A61B17/02 ,  B25J15/04 ,  A61B90/98 ,  A61B50/00 ,  A61B46/23 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  F16F1/12 ,  B32B3/12 ,  H05K1/18 ,  H04N5/232 ,  H04N5/225 ,  H01F27/28 ,  H01F5/04 ,  H01F5/02 ,  G03B5/02

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.