公开(公告)号：US20220022943A1

公开(公告)日：2022-01-27

申请号：US17496432

申请日：2021-10-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Scott E. MANZO ,  William A. BURBANK ,  Richard D. GRESHAM

IPC: A61B18/14 ,  A61B34/00

Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

公开(公告)号：US20210145441A1

公开(公告)日：2021-05-20

申请号：US17160288

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.

公开(公告)号：US20190090940A1

公开(公告)日：2019-03-28

申请号：US16205642

申请日：2018-11-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Scott E. MANZO ,  William A. BURBANK ,  Richard D. GRESHAM

IPC: A61B18/14 ,  A61B34/00 ,  A61B17/00 ,  A61B17/29 ,  A61B18/00 ,  A61B34/30 ,  A61B17/32

Abstract: An electrically energized medical instrument uses one or more drive cables to both actuate mechanical components of a wrist mechanism or an effector and to electrically energize the effector. Electrical isolation can be achieved using an insulating main tube through which drive cables extend from a backend mechanism to the effector, an insulating end cover that leaves only the desired portions of the effector exposed, and one or more seals to prevent electrically conductive liquid from entering the main tube. Component count and cost may be further reduced using a pair of pulleys that are shared by four drive cables.

公开(公告)号：US20170181804A1

公开(公告)日：2017-06-29

申请号：US15457675

申请日：2017-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Scott E. MANZO ,  William A. BURBANK

IPC: A61B34/35 ,  A61B17/295 ,  A61B34/32 ,  A61B34/00

Abstract: A method of operating an end effector of a surgical instrument includes supplying voltage to a motor disposed in a transmission mechanism of a surgical instrument having a shaft and an end effector at a distal end of the shaft; moving a component of the end effector between a first position and a second position via a drive system coupled to the motor; and placing a limit switch in a first state during moving of the end effector component, and in a second state when the end effector component is at one of the first position or the second position.

公开(公告)号：US20250000598A1

公开(公告)日：2025-01-02

申请号：US18695736

申请日：2022-09-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael BALDWIN ,  William A. BURBANK ,  Wesley Chung JOE

IPC: A61B34/00 ,  A61B17/00 ,  A61B17/29

Abstract: A medical device includes a manual drive structure having a manual drive input member and a manual drive coupling member. The medical device also includes a first tool drive member including a first motor drive input member and a second tool drive member including a second motor drive input member. The first tool drive member is coupled to and driven by the manual drive input member via the manual drive coupling member and the second tool drive member is coupled to and driven by the manual drive input member via the manual drive coupling member.

公开(公告)号：US20180168684A1

公开(公告)日：2018-06-21

申请号：US15576872

申请日：2016-05-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William A. BURBANK ,  Douglas S. LANGLEY

IPC: A61B17/34 ,  A61B17/02

CPC classification number: A61B17/3423 ,  A61B17/0218 ,  A61B17/3421 ,  A61B2017/347 ,  A61B2017/3484 ,  A61M25/02 ,  A61M2025/0233 ,  A61M2025/024

Abstract: A cannula fixation device for insertion at a surgical incision includes a sleeve having a passage configured to receive a cannula, and a clamp configured to rotatably couple the cannula to the sleeve and to maintain an axial position of the cannula relative to the sleeve.

公开(公告)号：US20220151717A1

公开(公告)日：2022-05-19

申请号：US17588761

申请日：2022-01-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William A. BURBANK

IPC: A61B34/35 ,  A61B34/37 ,  A61B17/072 ,  A61B34/30

Abstract: A robotic surgical assembly includes a drive assembly and a shaft assembly. The drive assembly is detachably mountable to a surgical robot and includes roll, pitch, and clamp/fire inputs configured to drivingly couple with respective outputs of the surgical robot. The shaft assembly is mounted to the drive assembly and configured to detachably couple with a stapler reload assembly that includes a reload roll shaft, a reload pitch shaft, and a reload clamp/fire shaft. The shaft assembly includes a roll shaft, a pitch shaft, and a clamp/fire shaft. The roll shaft is drivingly coupled with the roll input and configured to detachably couple to the reload roll shaft. The pitch shaft is drivingly coupled with the pitch input and configured to detachably couple to the reload pitch shaft. The clamp/fire shaft is drivingly coupled with the clamp/fire input and configured to detachably couple to the reload clamp/fire shaft.

公开(公告)号：US20210137627A1

公开(公告)日：2021-05-13

申请号：US17155475

申请日：2021-01-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. DACHS, II ,  Bruce Michael SCHENA ,  Donald ALDEN ,  Edward P. DONLON ,  Scott HARRINGTON ,  Craig TSUJI ,  William A. BURBANK

IPC: A61B46/10 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/35 ,  A61B46/00 ,  A61B90/98 ,  A61B17/00

Abstract: An instrument sterile adapter couples a surgical instrument and an instrument carriage. The instrument sterile adapter includes an instrument plate that provides a first surface to receive the surgical instrument and a latch plate joined to the instrument plate. The latch plate includes a second surface to receive the instrument carriage and latch structures. Each latch structure has a carriage latch arm that extends away from the second surface of the latch plate and an instrument latch arm joined to the carriage latch arm. The instrument latch arm extends through the instrument plate and away from the first surface of the instrument plate. A connecting member flexibly connects the carriage latch arm and the instrument latch arm to a remainder of the latch plate. The connecting member may be perpendicular to the latch arms. The latch arms may engage fixed locking surfaces in the instrument carriage and the surgical instrument.

公开(公告)号：US20180116743A1

公开(公告)日：2018-05-03

申请号：US15568356

申请日：2016-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William A. BURBANK ,  Gregory W. DACHS, II ,  Bruce M. SCHENA

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/10

CPC classification number: A61B34/71 ,  A61B34/30 ,  A61B34/35 ,  A61B2034/715 ,  B25J9/1045

Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.

公开(公告)号：US20240293121A1

公开(公告)日：2024-09-05

申请号：US18662686

申请日：2024-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Gabriel F. BRISSON ,  William A. BURBANK ,  Amir CHAGHAJERDI ,  Patrick FLANAGAN ,  Pushkar HINGWE ,  Andrew WILSON ,  Donald F. WILSON, JR. ,  Matthew A. WIXEY

IPC: A61B17/072 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/06 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00128 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0725 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/2059 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/066

Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.