公开(公告)号：US10130437B2

公开(公告)日：2018-11-20

申请号：US14911977

申请日：2014-08-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

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.

公开(公告)号：US09687302B2

公开(公告)日：2017-06-27

申请号：US14149535

申请日：2014-01-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel T. Crews ,  Andrew Crews ,  Edward P. Donlon ,  Craig Gerbi ,  Kenneth L. Gong ,  Karnarnadakala D. Krishnanand ,  Peling Lee ,  Theodore W. Rogers ,  John Ryan Steger ,  Charles E. Swinehart

IPC: A61B17/00 ,  A61B19/00 ,  A61B17/34 ,  A61B34/30 ,  A61B17/29

CPC classification number: A61B34/30 ,  A61B17/3421 ,  A61B2017/00845 ,  A61B2017/2926 ,  Y10T29/49826

Abstract: A surgical apparatus includes a cannula and a surgical instrument. The cannula includes a curved longitudinal axis along at least a portion of its length. The surgical instrument includes an elongated shaft having a distal end and a proximal end, and an end effector coupled to the distal end of the elongated shaft. At least a portion of the end effector is configured to contact an inner surface of the cannula during insertion of the surgical instrument into the curved cannula. A threshold galling stress between the portion of the end effector and an inner surface of the curved cannula is at least 10,000 pounds per square inch.