公开(公告)号：US20150164598A1

公开(公告)日：2015-06-18

申请号：US14591826

申请日：2015-01-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： STEPHEN J. BLUMENKRANZ ,  David Q. Larkin

IPC: A61B19/00 ,  G01L5/22 ,  G01L1/24

CPC classification number: G01L5/22 ,  A61B1/00059 ,  A61B17/29 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B90/06 ,  A61B90/37 ,  A61B2017/2927 ,  A61B2034/2061 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/066 ,  A61B2562/0266 ,  B25J15/0009 ,  G01L1/246 ,  Y10T74/20335

Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. Groups of axially oriented strain gauges are positioned on a distal end of an instrument shaft proximate a moveable wrist of a robotic surgical instrument to sense forces and torques at the distal tip of the instrument. Advantageously, errors due to changes in the configuration of the tip or steady state temperature variations are eliminated. Other advantageous configurations and methods are disclosed.

Abstract translation: 提供了一种用于改善力和转矩检测和反馈给执行远程外科手术的外科医生的装置，系统和方法。 一组轴向取向的应变计定位在仪器轴的远端，靠近机器人手术器械的可移动腕部，以感测仪器远端的力和扭矩。 有利地，消除了由于尖端或稳态温度变化的配置变化引起的误差。 公开了其它有利的配置和方法。

公开(公告)号：US20160166345A1

公开(公告)日：2016-06-16

申请号：US15006549

申请日：2016-01-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： RAJESH KUMAR ,  BRIAN DAVID HOFFMAN ,  GIUSEPPE MARIA PRISCO ,  DAVID Q. LARKIN ,  WILLIAM C. NOWLIN ,  FREDERIC H. MOLL ,  STEPHEN J. BLUMENKRANZ ,  GUNTER D. NIEMEYER ,  J. KENNETH SALISBURY, JR. ,  YULUN WANG ,  MODJTABA GHODOUSSI ,  DARRIN R. UECKER ,  JAMES W. WRIGHT ,  AMANTE A. MANGASER ,  RANJAN MAUHERJEE

IPC: A61B34/37 ,  G09B23/28 ,  A61B90/00 ,  A61B34/30 ,  A61B34/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.

公开(公告)号：US20150135832A1

公开(公告)日：2015-05-21

申请号：US14540313

申请日：2014-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： STEPHEN J. BLUMENKRANZ ,  Lawton N. Verner

IPC: G01P15/093 ,  G02B6/34

CPC classification number: G01P15/093 ,  G01L1/2225 ,  G02B6/34

Abstract: An accelerometer is included within the confined space and limited volume of a distal portion of a surgical instrument. The surgical instrument includes an end component, a joint coupled to the end component, a shaft coupled to the joint, and a force transducer and accelerometer apparatus. The force transducer and accelerometer apparatus is coupled between the joint and the shaft. The force transducer and accelerometer apparatus includes a force sensor and an accelerometer. The accelerometer includes an optic fiber having a Fiber Bragg Grating. Information acquired from the Fiber Bragg Grating is used to drive a vibro-tactile haptic feedback output device coupled to a master control arm surgeon grip.

Abstract translation: 加速度计包括在限制空间内并且包括外科器械的远端部分的有限体积。 手术器械包括端部部件，联接到端部部件的接头，联接到接头的轴，以及力传感器和加速度计装置。 力传感器和加速度计装置联接在接头和轴之间。 力传感器和加速度计装置包括力传感器和加速度计。 加速度计包括具有光纤布拉格光栅的光纤。 从光纤布拉格光栅获取的信息用于驱动耦合到主控臂手术夹柄的振动触觉触觉反馈输出装置。

公开(公告)号：US20160101263A1

公开(公告)日：2016-04-14

申请号：US14879291

申请日：2015-10-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： STEPHEN J. BLUMENKRANZ ,  CAITLIN Q. DONHOWE ,  RANDALL L. SCHLESINGER

IPC: A61M25/01 ,  A61B1/005 ,  A61B1/00

CPC classification number: A61B1/0051 ,  A61B5/05 ,  A61B5/065 ,  A61B5/066 ,  A61B5/1076 ,  A61B5/6852 ,  A61B5/6855 ,  A61B2034/2061 ,  A61B2562/0233

Abstract: An apparatus comprises an instrument including an elongated, flexible body and a shape sensor including an optical fiber extending at least partially along the elongated, flexible body. The apparatus also includes a radiopaque material incorporated with the optical fiber at least partially along a length of the optical fiber.

Abstract translation: 一种装置包括一种包括细长的柔性体和包括至少部分沿细长的柔性体延伸的光纤的形状传感器的仪器。 该装置还包括至少部分地沿着光纤的长度结合有光纤的不透射线材料。

公开(公告)号：US20140107627A1

公开(公告)日：2014-04-17

申请号：US14107791

申请日：2013-12-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： STEPHEN J. BLUMENKRANZ ,  Brett J. Lockyer

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/71 ,  A61B34/76 ,  A61B90/10 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/2929 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2562/08

Abstract: A surgical instrument includes a distal portion. A force sensor is operatively mounted on the distal portion. The force sensor includes a wireless package, which wirelessly provides (1) identification information of the surgical instrument and (2) strain data related to the distal portion. A surgical end effector includes a jaw and the distal portion is on a non-contact portion of the jaw. The wireless package includes a surface acoustic wave strain sensor with identification information. The wireless package also includes a small folded antenna electrically coupled to the surface acoustic wave strain sensor with identification information. The identification information includes an identification of a type of surgical instrument and unique identification of the specific surgical instrument in the type of surgical instrument.

Abstract translation: 手术器械包括远端部分。 力传感器可操作地安装在远端部分上。 力传感器包括无线封装，其无线地提供（1）外科器械的识别信息和（2）与远端部分有关的应变数据。 手术末端执行器包括钳口，并且远端部分位于钳口的非接触部分上。 无线封装包括具有识别信息的表面声波应变传感器。 无线封装还包括电耦合到具有识别信息的表面声波应变传感器的小折叠天线。 识别信息包括手术器械的类型的识别和手术器械类型中的特定手术器械的独特识别。