公开(公告)号：US20160058512A1

公开(公告)日：2016-03-03

申请号：US14478311

申请日：2014-09-05

申请人： Intuitive Surgical Operations, Inc.

发明人： DANIEL H. GOMEZ ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert Elliot Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC分类号： A61B19/00

CPC分类号： 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

摘要： Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

摘要翻译： 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。

公开(公告)号：US09757149B2

公开(公告)日：2017-09-12

申请号：US14305338

申请日：2014-06-16

申请人： Intuitive Surgical Operations, Inc.

发明人： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert Elliot Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC分类号： A61B19/00 ,  A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

CPC分类号： 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

摘要： 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.

公开(公告)号：US20140296872A1

公开(公告)日：2014-10-02

申请号：US14305338

申请日：2014-06-16

申请人： Intuitive Surgical Operations, Inc.

发明人： THOMAS G. COOPER ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert Elliot Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC分类号： A61B17/34 ,  A61B19/00

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US09801654B2

公开(公告)日：2017-10-31

申请号：US14478311

申请日：2014-09-05

申请人： Intuitive Surgical Operations, Inc.

发明人： Daniel H. Gomez ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert Elliot Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC分类号： A61B19/00 ,  A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

CPC分类号： 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

摘要： Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

公开(公告)号：US20140326254A1

公开(公告)日：2014-11-06

申请号：US14250705

申请日：2014-04-11

申请人： Intuitive Surgical Operations, Inc.

发明人： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert Elliot Holop ,  Craig R. Ramstad

IPC分类号： A61B19/08 ,  A61B19/00

摘要： A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.

摘要翻译： 提供了无菌悬垂布，具有悬垂布的手术系统和悬垂方法。 在一个实施例中，无菌悬垂包括多个覆盖袋，每个覆盖袋包括与无菌区相邻的用于执行外科手术的外表面和与非无菌器械操纵器相邻的内表面 机器人手术系统的手术臂。 盖布还包括在每个覆盖袋的远侧面处的多个柔性膜，用于在仪器操纵器的输出和相应的手术器械的输入之间进行接口，以及可旋转的密封件，其适于将每个覆盖物的近端开口 在操纵臂的远端处的可旋转元件的口袋。