公开(公告)号：US20180325606A1

公开(公告)日：2018-11-15

申请号：US16009014

申请日：2018-06-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David W. Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David W. Robinson ,  John W. Zabinski

IPC分类号： A61B34/00 ,  G06F3/14 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00 ,  A61B17/072 ,  A61B17/28 ,  A61B17/29 ,  B25J9/16 ,  A61B34/30 ,  G06F3/16 ,  G06F3/01

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

公开(公告)号：US20210386494A1

公开(公告)日：2021-12-16

申请号：US17459120

申请日：2021-08-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrissette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC分类号： A61B34/35

摘要： A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

公开(公告)号：US09999472B2

公开(公告)日：2018-06-19

申请号：US15364114

申请日：2016-11-29

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： A61B34/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US20200078109A1

公开(公告)日：2020-03-12

申请号：US16316939

申请日：2017-07-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： John Ryan Steger ,  Brian M. Crews ,  Craig R. Gerbi ,  Tyler J. Morrisette ,  Margaret M. Nixon ,  Joseph P. Orban, III ,  Theodore W. Rogers ,  Alain Sadaka ,  Charles E. Swinehart ,  Michael Turner ,  Kerry S. Wang

IPC分类号： A61B34/35

摘要： A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

公开(公告)号：US10376324B2

公开(公告)日：2019-08-13

申请号：US15522568

申请日：2015-10-30

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Amy E. Kerdok ,  Margaret M. Nixon ,  Douglas S. Langley ,  Wesley Swanson ,  Mahdi Azizian

IPC分类号： A61B34/35 ,  A61B34/30 ,  A61B90/57 ,  A61B34/00

摘要： A system and method for an articulated arm stabilization includes an arm stabilizer for use with articulated arms of a computer-assisted medical device. The stabilizer includes a spine, a first vibration absorbing mount attached to the spine, a second vibration absorbing mount attached to the spine, a first clamp attached to the first vibration absorbing mount, and a second clamp attached to the second vibration absorbing mount. The first clamp is adapted to hold a first attachment point of a first articulated arm without slipping. The second clamp is adapted to hold a second attachment point of a second articulated arm without slipping. In some embodiments, the arm stabilizer stabilizes and reduces vibration in the first and second articulated arms. In some embodiments, the vibration is in a range from 0.5 to 14 Hz. In some embodiments, the spine limits relative motion between the first clamp and the second clamp.

公开(公告)号：US09814530B2

公开(公告)日：2017-11-14

申请号：US14635908

申请日：2015-05-12

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： G05B19/425 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US09662177B2

公开(公告)日：2017-05-30

申请号：US14635866

申请日：2015-03-02

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC分类号： G06F19/00 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

CPC分类号： A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

摘要： End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaws, measuring the separation parameter between the jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US20160270773A1

公开(公告)日：2016-09-22

申请号：US15072080

申请日：2016-03-16

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David W. Bailey ,  Michael H. Ikeda ,  Margaret M. Nixon ,  Hubert Stein

IPC分类号： A61B17/02 ,  A61B34/00 ,  A61B34/30 ,  A61B1/32 ,  A61B1/00

CPC分类号： A61B17/0218 ,  A61B1/00087 ,  A61B1/313 ,  A61B1/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/0225 ,  A61B2017/0237 ,  A61B2034/305

摘要： Minimaily invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.

摘要翻译： 提供了微创外科牵开器和使用牵开器的方法。 该收缩器可以通过由机器人系统控制的密封端口引入，具有完全关节，并且不需要在患者体内组装。 因此，可以进行完全内窥镜二尖瓣手术。

公开(公告)号：US09314153B2

公开(公告)日：2016-04-19

申请号：US14079403

申请日：2013-11-13

申请人： Intuitive Surgical Operations, Inc.

发明人： Hubert Stein ,  Margaret M. Nixon ,  David W. Bailey ,  Michael H. Ikeda

IPC分类号： A61B1/32 ,  A61B1/00 ,  A61B1/313 ,  A61B17/02 ,  A61B19/00

CPC分类号： A61B17/0218 ,  A61B1/00087 ,  A61B1/313 ,  A61B1/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B2017/0225 ,  A61B2017/0237 ,  A61B2034/305

摘要： Minimally invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.

公开(公告)号：US11583351B2

公开(公告)日：2023-02-21

申请号：US16503367

申请日：2019-07-03

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Amy E. Kerdok ,  Margaret M. Nixon ,  Douglas S. Langley ,  Wesley Swanson ,  Mahdi Azizian

IPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/00 ,  A61B90/57

摘要： A system and method includes deploying first and second articulated arms of a computer-assisted device so that a first attachment point on the first articulated arm and a second attachment point of the second articulated arm are positioned and oriented relative to each other based on a size and a shape of an arm stabilizer; stabilizing and reducing vibration of the first and second articulated arms by attaching the arm stabilizer to the first and second attachment points; after the stabilizing and reducing vibration of the first and second articulated arms, positioning and orienting a tool with the first articulated arm; and after the positioning and orienting of the tool, operating the tool. In some embodiments, the tool is a medical tool. In some embodiments, the system and method further include positioning and orienting a second tool with the second articulated arm and operating the second tool.