公开(公告)号：US12207895B2

公开(公告)日：2025-01-28

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 ,  A61B1/00 ,  A61B17/02 ,  A61B17/34 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/00 ,  B25J15/00 ,  B25J15/04 ,  B32B3/12 ,  F16F1/12 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  H05K1/18 ,  A61B17/00 ,  A61B17/29 ,  A61B90/50 ,  B25J15/02 ,  G03B5/02

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：US12127807B2

公开(公告)日：2024-10-29

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: A61B50/20 ,  A61B1/00 ,  A61B17/02 ,  A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/30 ,  A61B90/98 ,  A61M13/00 ,  B25J15/00 ,  B25J15/04 ,  B32B3/12 ,  F16F1/12 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  H05K1/18 ,  A61B17/00 ,  A61B17/29 ,  A61B90/50 ,  B25J15/02 ,  G03B5/02

CPC classification number: A61B34/70 ,  A61B1/00135 ,  A61B1/00142 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/003 ,  B25J15/0066 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  H05K1/18 ,  A61B2017/00477 ,  A61B17/29 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2050/3008 ,  A61B2090/5025 ,  B25J15/02 ,  G03B5/02 ,  G03B2205/0015 ,  G03B2205/0069 ,  H01F2005/027 ,  Y10T74/20305

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：US12102398B2

公开(公告)日：2024-10-01

申请号：US17193403

申请日：2021-03-05

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Todd R. Solomon

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  G16H40/63

CPC classification number: A61B34/30 ,  A61B34/70 ,  G16H40/63 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/031

Abstract: Techniques for automated engagement and disengagement of a preload include a computer-assisted apparatus. The computer-assisted apparatus includes an instrument manipulator assembly including a preload assembly and a controller coupled to the instrument manipulator assembly. The controller is configured to move the instrument manipulator assembly to a fully withdrawn position and command the preload assembly to engage a preload. In some embodiments, engaging the preload causes the preload assembly to assert a preload force on a motor pack of the instrument manipulator assembly. In some embodiments, the controller is further configured to move the instrument manipulator assembly to a home position after the preload is engaged.

公开(公告)号：US11457989B2

公开(公告)日：2022-10-04

申请号：US16317289

申请日：2017-05-25

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Craig R. Ramstad ,  Robert E. Holop

IPC: A61B46/10 ,  A61B34/37 ,  A61B90/00 ,  A61B46/00 ,  A61B17/00

Abstract: A surgical drape installation aid comprises a body comprising a sidewall and a plurality of rotatable seal interface elements. The sidewall bounds an interior volume of the body and has a first end and a second end. The first end of the sidewall bounds a first open end of the body and the second end of the sidewall bounds a second open end of the body. Each of the plurality of rotatable seal interface elements extends from the second end of the sidewall.

公开(公告)号：US11219497B2

公开(公告)日：2022-01-11

申请号：US16317294

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  A61B17/00

Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.

公开(公告)号：US09955996B2

公开(公告)日：2018-05-01

申请号：US14555417

申请日：2014-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Todd R. Solomon ,  Thomas G. Cooper ,  Eugene F. F. Duval ,  Nicola Diolaiti ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers

IPC: A61B17/00 ,  A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61B90/50

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.

公开(公告)号：US20170071628A1

公开(公告)日：2017-03-16

申请号：US15360311

申请日：2016-11-23

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: A61B17/34 ,  A61B34/37 ,  A61B34/00 ,  A61B46/23 ,  A61M13/00 ,  A61B17/02 ,  A61B34/35 ,  A61B46/10

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

Abstract translation: 提供入口引导管和插管组件，包括组件的手术系统和外科器械插入的方法。 在一个实施例中，组件包括套管，其具有可操作地连接到操纵臂的辅助夹具的近侧部分和联接到近端部分的远端管状构件，管状构件具有用于至少一个仪器轴 。 组件还包括可旋转地联接到套管的近端部分的入口引导管，入口引导管包括用于多个器械轴通过的多个通道，其中进入引导管相对于 所述插管通过围绕入口引导管的纵向轴线的至少一个仪器轴旋转。

公开(公告)号：US11883123B2

公开(公告)日：2024-01-30

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 ,  A61B17/00

CPC classification number: A61B46/10 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/302

Abstract: A surgical drape assembly can include a surgical drape; and a cinch assembly affixed to the surgical drape. The cinch assembly can include a folding mechanism having a plurality of links and at least two hinge joints respectively connecting respective adjacent links of the plurality of links. The plurality of links can be foldable relative to one another about the at least two hinge joints between an unfolded configuration and a folded configuration. A first portion of the surgical drape is in an extended configuration in the unfolded configuration with a portion of the drape being in a gathered configuration in the folded configuration of the plurality of links.

公开(公告)号：US20240000532A1

公开(公告)日：2024-01-04

申请号：US18327238

申请日：2023-06-01

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 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  B25J15/00 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

CPC classification number: A61B34/70 ,  B32B3/12 ,  F16F1/121 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/3421 ,  A61B34/00 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H05K1/18 ,  A61B1/00135 ,  A61B1/00142 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  B25J15/0066 ,  A61B17/3423 ,  B25J15/04 ,  A61B17/0218 ,  A61B17/3474 ,  A61M13/003 ,  Y10T74/20305 ,  A61B2017/00477

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：US11559363B2

公开(公告)日：2023-01-24

申请号：US16317440

申请日：2017-06-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Robert E. Holop ,  Anthony K. McGrogan ,  Jeffrey R. Roeder ,  Daniel H. Gomez ,  Arjang M. Hourtash ,  Thomas Brennan-Marquez ,  Probal Mitra

IPC: A61B34/00 ,  A61B34/35 ,  A61B17/34 ,  A61B46/10 ,  B25J9/12 ,  B25J13/06 ,  B25J9/16 ,  A61B34/30 ,  A61B17/00

Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.