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公开(公告)号：US20250082360A1
公开(公告)日：2025-03-13
申请号：US18958932
申请日：2024-11-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David I. MOREIRA RIDSDALE , Harsukhdeep S. RATIA , Craig TSUJI , Zhou YE
Abstract: A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
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公开(公告)号：US20220192764A1
公开(公告)日：2022-06-23
申请号：US17561294
申请日：2021-12-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Andrew C. WATERBURY , John Ryan STEGER , Zhou YE
Abstract: An apparatus includes a wrist, an end effector, a cable pair, and a transmission. A proximal wrist portion is coupled to a distal end portion of a shaft. Actuation of the wrist moves a distal wrist portion relative to the proximal wrist portion. The end effector is coupled to the distal wrist portion, and can be actuated to move relative to the wrist. The transmission is coupled to a proximal end portion of the shaft, and can move an end of the cable pair to actuate the end effector. The end of the cable pair is routed through a transmission cable path within the transmission. The transmission includes an adjustment mechanism having an input portion that receives a force exerted by the end of the cable pair. The adjustment mechanism is configured to change a length of the transmission cable path in response to a change in the force.
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公开(公告)号：US20220354474A1
公开(公告)日：2022-11-10
申请号：US17869045
申请日：2022-07-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Harsukhdeep RATIA , Alain SADAKA , Zhou YE
Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.
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公开(公告)号：US20230363849A1
公开(公告)日：2023-11-16
申请号：US18026040
申请日：2021-09-10
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lizmarie COMENENCIA ORTIZ , David I. MOREIRA RIDSDALE , Alan W. PETERSEN , Harsukhdeep S. RATIA , Sharathchandra SOMAYAJI , Ashwinram SURESH , Zhou YE
CPC classification number: A61B90/06 , A61B34/30 , A61B2090/064
Abstract: A medical device includes a mechanical structure and a force sensor unit. The force sensor unit comprises a mounting bracket, a first rod, a second rod, a first magnet, a second magnet, a first coil coupled to the mounting bracket, and a second coil coupled to the mounting bracket. The first rod and the second rod each have a center axis defined between a proximal and distal portion of the respective first and second rods. The center axis of the second rod is noncoaxial with the center axis of the first rod. The first magnet is coupled to the first rod and translates within the first coil along the center axis of the first rod. Similarly, the second magnet is coupled to the second rod and translates within the second coil along the center axis of the second rod.
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公开(公告)号：US20230225817A1
公开(公告)日：2023-07-20
申请号：US17925209
申请日：2021-05-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Zhou YE , Lawrence KERVER , Harsukhdeep RATIA , Ashwinram SURESH
IPC: A61B34/00 , G01L5/1627
CPC classification number: A61B34/76 , G01L5/1627 , A61B2017/00477
Abstract: A medical device includes a shaft comprising a proximal end portion and a distal end portion. A beam has a proximal end portion, a distal end portion, and a middle portion, and one or more strain sensors are on the middle portion. The proximal end portion of the beam is matingly coupled to the distal end portion of the shaft to form an interface. The beam comprises a discontinuity between the interface and the middle portion of the beam. In some embodiments, the medical device includes a link and the distal end portion of the beam is matingly coupled to the link to form a second interface. A second discontinuity is between the second interface and the middle portion of the beam. In some embodiments, an anchor is coupled to the shaft and the proximal end portion of the beam is matingly coupled to the anchor.
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Patent Agency Ranking
公开(公告)号：US20220401171A1
公开(公告)日：2022-12-22
申请号：US17840859
申请日：2022-06-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Lizmarie COMENENCIA ORTIZ , Jason MIAO , David I. MOREIRA RIDSDALE , Harsukhdeep S. RATIA , Sharathchandra SOMAYAJI , Zhou YE
Abstract: A medical device comprises an end effector, a mechanical structure, a connector, and a force sensor unit. The connector extends from a drive component of the mechanical structure to the end effector. Motion of the drive component produces a tension force within the connector, which is associated with an end effector torque or force exerted by the end effector. The force sensor unit comprises a body, and the body is coupled in-line with the connector so that strain in the connector is imparted to the body. A strain sensor measures the strain on the body as an indication of strain in the connector, which is an indication of torque or force at the end effector. The connector may be continuous, and coupled to the body with a slack relief portion of the connector within the body. Alternatively, the connector may be discontinuous and coupled to opposite ends of the body.
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公开(公告)号：US20210022819A1
公开(公告)日：2021-01-28
申请号：US17045679
申请日：2019-04-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Grant DUQUE , Lawrence KERVER , David I. MOREIRA RIDSDALE , Harsukhdeep Singh RATIA , Joseph P. ORBAN, III , Zhou YE
Abstract: An articulable medical device includes a link, a transfer member, a tool member, and a non-drive wire. The tool member has a base portion movably coupled to the transfer member, and a contact portion configured to engage a target tissue. The transfer member is rotatably coupled to the link to rotate with the tool member relative to the link from a first orientation to a second orientation. The non-drive wire has a first end portion coupled to an energy source, a second end portion coupled to the tool member contact portion, and a central portion between the first and second end portions that includes a transition portion disposed within a cavity defined within the base portion of the tool member, a distal portion of the link, or the transfer member, which has a compact first configuration in the first orientation and an expanded second configuration in the second orientation.
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公开(公告)号：US20240390090A1
公开(公告)日：2024-11-28
申请号：US18790618
申请日：2024-07-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Zhou YE , Harsukhdeep RATIA , Alain SADAKA
Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.
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公开(公告)号：US20240148405A1
公开(公告)日：2024-05-09
申请号：US17768298
申请日：2020-10-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David I. MOREIRA RIDSDALE , Harsukhdeep S. RATIA , Craig TSUJI , Zhou YE
CPC classification number: A61B17/3415 , A61B17/00234 , A61B2017/00477 , A61B17/3474
Abstract: A surgical instrument includes a chassis, an outer tube having a proximal end operably coupled to the chassis, and an inner tube extending within the outer tube. The inner tube has a proximal end operably coupled to the chassis to allow slidable movement of the inner tube relative to the outer tube in response to a force imparted to a distal end of the inner tube, and such that frictional force imparted to an outer surface of the outer tube is not imparted to the inner member.
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10.发明申请公开(公告)号：US20210353373A1
公开(公告)日：2021-11-18
申请号：US17322276
申请日：2021-05-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Zhou YE , Harsukhdeep RATIA , Ashwinram SURESH , Craig TSUJI
Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.
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