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    TECHNIQUES FOR CONTROLLING GRASPING
    1.
    发明申请
    TECHNIQUES FOR CONTROLLING GRASPING 有权

    公开(公告)号：US20250082324A1

    公开(公告)日：2025-03-13

    申请号：US18955586

    申请日：2024-11-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/00 ,  A61B17/072 ,  A61B17/115 ,  A61B90/00

    Abstract: Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.

    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE
    5.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE 审中-公开

    公开(公告)号：US20190175174A1

    公开(公告)日：2019-06-13

    申请号：US16275858

    申请日：2019-02-14

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Patrick FLANAGAN ,  David WEIR

    IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30

    Abstract: A surgical stapler system may include a surgical instrument comprising an end effector configured to receive a removable staple cartridge, and an actuation mechanism operably coupled to actuate the end effector to perform a stapling procedure. The surgical stapler system also may include a drive system operably coupled to transmit an actuation force to the actuation mechanism and a controller operably coupled to the drive system. The controller may be configured to measure an actuation force transmitted by the drive system to the actuation mechanism, and control continued transmission of the actuation force based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum threshold actuation force.

    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING
    7.
    发明公开
    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING 审中-公开

    公开(公告)号：US20230157687A1

    公开(公告)日：2023-05-25

    申请号：US18158069

    申请日：2023-01-23

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/072

    CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

    Abstract: Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE
    8.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE 有权

    公开(公告)号：US20210353292A1

    公开(公告)日：2021-11-18

    申请号：US17391335

    申请日：2021-08-02

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Patrick FLANAGAN ,  David W. WEIR

    IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30

    Abstract: A system comprises a surgical instrument comprising an end effector comprising a first jaw member and a second jaw member, the second jaw member comprising or being configured to receive a plurality of staples; and an actuation mechanism operably coupled to the end effector to actuate the end effector to perform at least one of a clamping procedure or a staple firing procedure. The system further comprises a drive system configured to drive the actuation mechanism, a controller operably coupled to the drive system, and a user interface operably coupled to the controller, which is configured to determine the clamping procedure or the staple firing procedure has failed based on a magnitude of an actuation force applied by the drive system to the actuation mechanism; and cause the user interface to output a failure indication indicative of the failure.

    METHODS AND SYSTEMS FOR DETECTING CLAMPING OR FIRING FAILURE
    10.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING CLAMPING OR FIRING FAILURE 有权
    用于检测夹紧或失效的方法和系统

    公开(公告)号：US20160074036A1

    公开(公告)日：2016-03-17

    申请号：US14949827

    申请日：2015-11-23

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David ROBINSON

    IPC: A61B17/068

    CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115 ,  A61B2017/00115 ,  A61B2017/00398 ,  A61B2017/07214 ,  A61B2090/064 ,  A61B2090/0811

    Abstract: Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.

    Abstract translation: 提供了系统和方法，用于检测材料夹紧和/或钉入夹紧材料中的失败，并在用户界面上向用户指示这种故障。 该系统和方法特别适用于具有联接到致动器的闭合和/或击发机构的末端执行器。 通过监测执行夹紧和/或点火的致动器的驱动参数，系统和方法提供响应于所监视的驱动参数的故障的指示。 在一些实施例中，当在夹紧和/或点火期间监视的驱动参数在期望的驱动参数的可接受范围之外时，输出故障指示。 当用于微创手术时，所公开的系统和方法是特别有益的。

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