公开(公告)号：WO2012166806A1

公开(公告)日：2012-12-06

申请号：PCT/US2012/040015

申请日：2012-05-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  BRISSON, Gabriel F.

Inventor： BRISSON, Gabriel F.

IPC: A61B17/29 ,  A61B19/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/77 ,  A61B2017/00477 ,  A61B2090/064

Abstract: Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A surgical assembly includes an end effector including a jaw operable to grip a patient tissue and a spring assembly. The spring assembly includes an output link drivingly coupled with the jaw, an input link drivingly coupled to an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link. The spring is preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level.

Abstract translation: 公开了控制组织夹持力的手术组件，仪器和相关方法。 手术组件包括端部执行器，其包括可操作以夹持患者组织和弹簧组件的钳口。 弹簧组件包括与颚板驱动耦合的输出连杆，驱动地连接到关节运动源的输入连杆，以及与输入和输出连杆耦合以将接合力从输入连杆传递到输出连杆的弹簧。 弹簧被预加载以阻止输入连杆和输出连杆之间的相对移动，同时传送的关节运动力低于预定水平，并且当传递的关节运动力高于预定水平时允许输入连杆和输出连杆之间的相对移动 水平。

公开(公告)号：WO2012068156A3

公开(公告)日：2012-11-01

申请号：PCT/US2011060849

申请日：2011-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS ,  BRISSON GABRIEL F ,  BURBANK WILLIAM ,  DACHS II GREGORY W ,  ZABINSKI JOHN W ,  MURPHY TODD

Inventor： BRISSON GABRIEL F ,  BURBANK WILLIAM ,  DACHS II GREGORY W ,  ZABINSKI JOHN W ,  MURPHY TODD

IPC: A61B19/00 ,  A61B17/29 ,  F16H37/08

CPC classification number: A61B34/70 ,  A61B17/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2903 ,  A61B2017/293 ,  A61B2017/2932 ,  A61B2017/2936 ,  A61B2017/2938 ,  A61B2017/2943 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/715 ,  A61B2090/067

Abstract: Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

Abstract translation: 公开了外科组件和相关方法，其提供器械轴卷和端部执行器致动的解耦。 外科组件包括：基座;旋转地安装到基座的器械轴;端部执行器，其支撑在器械轴的远端处并且包括由旋转运动驱动的致动机构;驱动轴，与致动机构旋转地联接并且被配置 以向致动机构提供旋转运动，以及与驱动轴旋转耦合并接收第一输入运动和第二输入运动的差速器。 该差速器将第一和第二输入运动组合起来以产生使驱动轴旋转的输出运动。 第一输入运动可旋转地连接至致动源。 第二输入运动与仪器轴相对于基座的旋转相联接。

公开(公告)号：WO2012166815A1

公开(公告)日：2012-12-06

申请号：PCT/US2012/040029

申请日：2012-05-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC ,  DURANT, Kevin ,  BRISSON, Gabriel, F. ,  MANZO, Scott ,  BURBANK, William, A.

Inventor： DURANT, Kevin ,  BRISSON, Gabriel, F. ,  MANZO, Scott ,  BURBANK, William, A.

IPC: A61B19/00

CPC classification number: A61B34/35 ,  A61B17/295 ,  A61B34/30 ,  A61B34/32 ,  A61B34/70 ,  A61B34/71 ,  A61B34/74 ,  A61B34/77 ,  A61B2017/00017 ,  A61B2017/00119 ,  A61B2017/2926 ,  A61B2034/306

Abstract: A method and system of controlling a surgical instrument including an end effector are provided. The method includes detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position, and automatically controlling operation of the end effector component after a second signal is not received within a predetermined time period after detecting the first signal. The second signal indicates that the end effector component is in one of the first position or the second position. The system includes a surgical instrument and a controller to implement the method.

Abstract translation: 提供了一种控制包括末端执行器的外科器械的方法和系统。 该方法包括检测指示外科器械的末端执行器部件位于第一位置和第二位置之间的第一信号，并且在第二信号在第一信号未被接收之后的预定时间段内自动控制末端执行器部件的操作 检测第一信号。 第二信号指示末端执行器部件处于第一位置或第二位置之一。 该系统包括手术器械和用于实施该方法的控制器。

公开(公告)号：WO2012068156A2

公开(公告)日：2012-05-24

申请号：PCT/US2011/060849

申请日：2011-11-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  BRISSON, Gabriel F. ,  BURBANK, William ,  DACHS II, Gregory W. ,  ZABINSKI, John W. ,  MURPHY, Todd

Inventor： BRISSON, Gabriel F. ,  BURBANK, William ,  DACHS II, Gregory W. ,  ZABINSKI, John W. ,  MURPHY, Todd

IPC: A61B19/00 ,  A61B17/29

CPC classification number: A61B34/70 ,  A61B17/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/2901 ,  A61B2017/2903 ,  A61B2017/293 ,  A61B2017/2932 ,  A61B2017/2936 ,  A61B2017/2938 ,  A61B2017/2943 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/715 ,  A61B2090/067

Abstract: Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.

Abstract translation: 公开了提供仪器轴辊和端部执行器致动的去耦的手术组件和相关方法。 手术组件包括基座，旋转地安装到基座的器械轴，支撑在器械轴的远端处的端部执行器，并且包括由旋转运动驱动的致动机构，与致动机构旋转耦合的驱动轴， 以向所述致动机构提供旋转运动，以及旋转地联接到所述驱动轴并接收第一输入运动和第二输入运动的差速器。 差速器组合第一和第二输入运动以产生使驱动轴旋转的输出运动。 第一输入运动可旋转地耦合到致动源。 第二输入运动耦合到仪器轴相对于基座的旋转。