公开(公告)号：US12161435B2

公开(公告)日：2024-12-10

申请号：US17469027

申请日：2021-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/35 ,  A61B17/29 ,  A61B34/00 ,  A61B90/50 ,  A61B17/00 ,  A61B34/30 ,  A61B90/57

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

公开(公告)号：US20240207000A1

公开(公告)日：2024-06-27

申请号：US18599768

申请日：2024-03-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel H. Gomez ,  Ian E. McDowall ,  Govinda Payyavula ,  John Ryan Steger

IPC: A61B34/37 ,  A61B34/00 ,  A61B34/20 ,  A61B90/00 ,  H04W12/50

CPC classification number: A61B34/37 ,  A61B34/20 ,  A61B34/74 ,  A61B34/76 ,  A61B90/06 ,  A61B90/37 ,  H04W12/50 ,  A61B2034/2048 ,  A61B2034/2059 ,  A61B2090/065

Abstract: A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.

公开(公告)号：US12011242B2

公开(公告)日：2024-06-18

申请号：US18151185

申请日：2023-01-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  Amy Kerdok ,  Ian E. McDowall ,  John Ryan Steger

IPC: A61B34/35 ,  A61B17/00 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2090/064 ,  A61B2090/371

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

公开(公告)号：US20230067930A1

公开(公告)日：2023-03-02

申请号：US17983922

申请日：2022-11-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brett Myers Page ,  Simon Peter DiMaio ,  Brandon Itkowitz ,  Goran Adrian Lynch ,  John Ryan Steger

IPC: A61B5/06 ,  A61B5/00 ,  A61B17/34 ,  A61B34/32 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30

Abstract: A medical puncture device system includes a puncture device, a sensor, and an indicator system. The puncture device is configured to create a puncture through patient tissue and into an internal patient cavity to enable a medical tool to be inserted through the puncture into the cavity. The sensor is configured to generate a signal indicative of motion of the puncture device through the tissue into the cavity. The indicator system is operable by a controller to produce human-perceptible feedback in response to the signal generated by the sensor.

公开(公告)号：US11534079B2

公开(公告)日：2022-12-27

申请号：US16333466

申请日：2017-10-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brett Myers Page ,  Simon Peter DiMaio ,  Brandon Itkowitz ,  Goran Adrian Lynch ,  John Ryan Steger

IPC: A61B34/32 ,  A61B17/34 ,  A61B5/06 ,  A61B5/00 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  A61B5/11 ,  A61B17/00 ,  A61B90/00

Abstract: A medical puncture device system includes a puncture device, a sensor, and an indicator system. The puncture device is configured to create a puncture through patient tissue and into an internal patient cavity to enable a medical tool to be inserted through the puncture into the cavity. The sensor is configured to generate a signal indicative of motion of the puncture device through the tissue into the cavity. The indicator system is operable by a controller to produce human-perceptible feedback in response to the signal generated by the sensor.

公开(公告)号：US11504156B2

公开(公告)日：2022-11-22

申请号：US16291434

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. Rogers ,  Craig R. Gerbi ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/34 ,  A61B17/02 ,  A61B1/313 ,  A61M39/02 ,  A61B1/00 ,  A61B17/00 ,  A61B17/04 ,  A61B17/29 ,  A61M25/00 ,  A61M25/01 ,  A61B34/00 ,  A61B34/30 ,  A61B90/50 ,  A61B34/37 ,  A61B90/90 ,  A61B90/92 ,  A61B34/20

Abstract: A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.

公开(公告)号：US20220087758A1

公开(公告)日：2022-03-24

申请号：US17541554

申请日：2021-12-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/37 ,  B25J9/12 ,  B25J9/16

Abstract: Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

公开(公告)号：US20210401517A1

公开(公告)日：2021-12-30

申请号：US17469027

申请日：2021-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  Daniel H. Gomez ,  John Ryan Steger

IPC: A61B34/35 ,  A61B17/29 ,  A61B90/50 ,  A61B34/00

Abstract: A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

公开(公告)号：US11154373B2

公开(公告)日：2021-10-26

申请号：US16484280

申请日：2018-01-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ryan Charles Abbott ,  John Ryan Steger ,  Daniel H. Gomez ,  Ian E. McDowall ,  Amy Kerdok

IPC: A61B34/35 ,  A61B34/00 ,  A61B17/00 ,  A61B90/00 ,  A61B90/57 ,  G16H40/60

Abstract: An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.

公开(公告)号：US11020196B2

公开(公告)日：2021-06-01

申请号：US16171942

申请日：2018-10-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peling G. Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Matthew R. Williams

IPC: A61B34/00 ,  A61B18/14 ,  A61B34/30 ,  A61B17/29 ,  A61B90/70 ,  A61B17/00

Abstract: A shaft for a surgical instrument comprises an outer tube having a proximal end and a distal end, a central lumen extending through the outer tube, and a plurality of stiffening rods positioned around the central lumen. The plurality of stiffening rods may comprise a nonconductive material. The shaft may form part of an electrosurgical instrument. In another embodiment, a surgical instrument may comprise an end effector and a shaft having an outer tube having a proximal end and a distal end, a drive rod, and at least four stiffening rods positioned around the drive rod, each stiffening rod being positioned substantially immediately adjacent to the drive rod. The axial stiffness of the shaft increases incrementally during actuation of the end effector.