公开(公告)号：US20200054310A1

公开(公告)日：2020-02-20

申请号：US16664200

申请日：2019-10-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria PRISCO ,  Theodore W. ROGERS ,  John Ryan STEGER

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

Abstract: A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylinthical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.

公开(公告)号：US20160128791A1

公开(公告)日：2016-05-12

申请号：US14983091

申请日：2015-12-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria PRISCO ,  Craig R. GERBI ,  Theodore W. ROGERS ,  John Ryan STEGER

IPC: A61B34/00

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3474 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B50/13 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3441 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/41

Abstract: A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another.

Abstract translation: 一种方法可以包括将第一插管的近端耦合到手术系统的第一操纵器，所述第一操纵器被配置为远程地致动所述第一插管的运动，其中所述第一插管包括设置在所述近端和 第一插管的远端，刚性部分具有弯曲的纵向轴线，以及将第二插管的近端耦合到手术系统的第二操纵器，所述第二操纵器被配置为远程致动第二插管的运动，其中， 第二套管包括设置在第二套管的近端和远端之间的刚性部分，刚性部分具有弯曲的纵向轴线。 第一和第二插管到相应的第一和第二操纵器的联接还可以包括将第一和第二插管的相应的第一和第二运动中心彼此靠近地定位，并且将第一和第二插管的相应纵向轴线定位在 第一和第二运动中心彼此相交。

公开(公告)号：US20220296322A1

公开(公告)日：2022-09-22

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: 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 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00

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：US20200246096A1

公开(公告)日：2020-08-06

申请号：US16851794

申请日：2020-04-17

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: A61B34/00 ,  A61M13/00 ,  A61B17/34 ,  A61B17/02 ,  B25J15/04 ,  A61B90/98 ,  A61B50/00 ,  A61B46/23 ,  A61B46/10 ,  A61B34/37 ,  A61B34/35 ,  A61B34/30 ,  F16F1/12 ,  B32B3/12 ,  H05K1/18 ,  H04N5/232 ,  H04N5/225 ,  H01F27/28 ,  H01F5/04 ,  H01F5/02 ,  G03B5/02

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

公开(公告)号：US20140066717A1

公开(公告)日：2014-03-06

申请号：US14073485

申请日：2013-11-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. ROGERS ,  Craig R. GERBI ,  John Ryan STEGER ,  Charles E. SWINEHART

IPC: A61B17/02

CPC classification number: A61B17/0218 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/313 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3462 ,  A61B17/3474 ,  A61B17/3498 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00473 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/0419 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/2948 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61M25/0041 ,  A61M25/0105 ,  Y10T29/49826

Abstract: A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.

Abstract translation: 手术口部特征可以包括漏斗部分，舌头，腰部部分和手术器械通道。 腰部可以位于漏斗部分和舌头之间。 手术器械通道可以从漏斗部分延伸穿过腰部。 手术口部特征还可以包括第二舌部，其中等待部分位于漏斗部分，舌部和第二舌部之间。

公开(公告)号：US20190192132A1

公开(公告)日：2019-06-27

申请号：US16291434

申请日：2019-03-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Theodore W. ROGERS ,  Craig R. GERBI ,  John Ryan STEGER ,  Charles E. SWINEHART

IPC: A61B17/02 ,  A61B1/313 ,  A61B17/34

CPC classification number: A61B17/3423 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/313 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3462 ,  A61B17/3474 ,  A61B17/3498 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00473 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/0419 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/2948 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61M25/0041 ,  A61M25/0105 ,  Y10T29/49826

Abstract: A surgical port feature may include a funnel portion, a tongue, a waist portion, and surgical instrument channels. The waist portion may be located between the funnel portion and the tongue. The surgical instrument channels may extend from the funnel portion through the waist portion. The surgical port feature may further include a second tongue, with the wait portion being located between the funnel portion, the tongue, and the second tongue.

公开(公告)号：US20190060017A1

公开(公告)日：2019-02-28

申请号：US16171942

申请日：2018-10-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Peling G. LEE ,  Theodore W. ROGERS ,  John Ryan STEGER ,  Matthew R. WILLIAMS

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

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：US20140338477A1

公开(公告)日：2014-11-20

申请号：US14277000

申请日：2014-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Edward P. DONLON ,  Theodore W. ROGERS ,  Bram LAMBRECHT

IPC: F16H25/12

CPC classification number: F16H19/02 ,  A61B34/30 ,  A61B2017/00477 ,  A61B2034/715 ,  F16H19/001 ,  Y10T74/18792

Abstract: A force transmission mechanism for a teleoperated surgical instrument may include a gear, a push/pull drive element, and a connection element. The push/pull drive element may be configured to transmit force to actuate an end effector of the surgical instrument and to rotate with a shaft of the surgical instrument when the shaft is rotated by the force transmission mechanism. The connection element may operatively couple the gear and the push/pull drive element. The connection element may be configured to convert rotational movement of the gear to a substantially linear movement of the push/pull drive element. The connection element may be configured to rotate with the push/pull drive element and relative to the gear.

Abstract translation: 用于远程手术的手术器械的力传递机构可以包括齿轮，推/拉驱动元件和连接元件。 推/拉驱动元件可以被配置成传递力以启动外科器械的端部执行器，并且当轴通过力传递机构旋转时，其与外科器械的轴一起旋转。 连接元件可以可操作地联接齿轮和推/拉驱动元件。 连接元件可以被配置为将齿轮的旋转运动转换成推/拉驱动元件的基本上线性的运动。 连接元件可以被构造成随着推/拉驱动元件相对于齿轮旋转。

公开(公告)号：US20140194895A1

公开(公告)日：2014-07-10

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 ,  Krish KRISHNANAND ,  Peling LEE ,  Theodore W. ROGERS ,  John Ryan STEGER ,  Charles E. SWINEHART

IPC: A61B19/00 ,  A61B17/34

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.

Abstract translation: 外科手术器械包括套管和手术器械。 插管包括沿其长度的至少一部分的弯曲纵向轴线。 外科器械包括具有远端和近端的细长轴和连接到细长轴的远端的端部执行器。 端部执行器的至少一部分构造成在将外科器械插入弯曲套管期间接触套管的内表面。 端部执行器的部分和弯曲套管的内表面之间的阈值磨损应力为至少10,000磅/平方英寸。

公开(公告)号：US20240423733A1

公开(公告)日：2024-12-26

申请号：US18822851

申请日：2024-09-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： John Ryan STEGER ,  Brian M. CREWS ,  Craig R. GERBI ,  Tyler J. MORRISSETTE ,  Margaret M. NIXON ,  Joseph P. ORBAN, III ,  Theodore W. ROGERS ,  Alain SADAKA ,  Charles E. SWINEHART ,  Michael TURNER ,  Kerry S. WANG

IPC: A61B34/35 ,  A61B1/313 ,  A61B17/00 ,  A61B17/42 ,  A61B34/30 ,  A61B90/00

Abstract: A teleoperation system includes an input device configured to by manually manipulated by an operator, a first manipulator configured to support an imaging device, a second manipulator configured to support an attachment selected from the group consisting of: an instrument and a tissue probe, a display device; and a control system. The imaging device has a field of view. The control system is configured to receive a first image of a workspace captured by the imaging device; determine a movement command based on movement of the input device; and in response to a first determination that the movement command is for teleoperating the attachment while the attachment is inserted into the workspace in a first direction that is non-corresponding to a second direction of the field of view, cause the display device to display a second image indicative of a tip of the attachment overlayed with the first image.