公开(公告)号：WO2019157500A3

公开(公告)日：2019-08-15

申请号：PCT/US2019/017646

申请日：2019-02-12

Applicant: INTUITIVE SURGICAL, INC.

Inventor： WIXEY, Matthew Aaron

IPC: A61B17/064 ,  A61B17/068 ,  A61B17/072 ,  A61B17/08

Abstract: Locking assemblies for surgical clamping and cutting instruments include a locking member and a switch. A drive member may be configured to releasably engage a knife and/or a shuttle of the surgical instrument for translating the knife and/or shuttle in a distal direction through a firing stroke. The locking member is movable from a first position permitting distal translation of the drive member through the firing stroke, and a second position inhibiting distal translation of the drive member through the firing stroke. A switch, when proximally positioned, releasably engages the locking member to maintain the locking member in the first position. The switch disengages from the locking member when the switch is moved to a distal position.

公开(公告)号：WO2016185259A1

公开(公告)日：2016-11-24

申请号：PCT/IB2015/056938

申请日：2015-09-10

Applicant: SIEMENS HEALTHCARE GMBH ,  INTUITIVE SURGICAL, INC.

Inventor： AZIZIAN, Mahdi ,  BLOHM, Lutz ,  KUNZE, Holger ,  NIEBLER, Christine ,  SORGER, Jonathan

IPC: A61B34/00

CPC classification number: A61B90/37 ,  A61B34/30 ,  A61B2090/064 ,  A61B2090/364 ,  A61B2090/368 ,  A61B2090/373 ,  A61B2090/374 ,  A61B2090/3762

Abstract: In a method and an apparatus to provide updated images during a roboticaliy- implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

Abstract translation: 在机器人实现的外科手术过程中提供更新图像的方法和装置中，获得了患者体积的3D数据，其中包括手术中涉及的解剖结构。 解剖结构从体积的重建图像分割。 在手术过程中，外科医生对解剖结构施加力量，导致解剖结构的几何变化。 手术机器人中的力传感器检测这些力，这些力被提供给在显示屏幕上控制分段解剖结构的显示的处理器。 根据应用的力量和解剖结构的物理特性，处理器计算已经发生的解剖结构的几何变化，并且在手术过程中实时地在显示屏幕上修改显示的分段解剖结构的外观和/或位置，以便 可视化几何变化。

公开(公告)号：WO2010078013A1

公开(公告)日：2010-07-08

申请号：PCT/US2009/068411

申请日：2009-12-17

Applicant: INTUITIVE SURGICAL, INC.

Inventor： ROGERS, Theodore W. ,  STEGER, John Ryan ,  DUVAL, Eugene F.

IPC: A61B17/32 ,  A61B17/29 ,  A61B17/00 ,  A61B19/00

CPC classification number: A61B17/320016 ,  A61B17/29 ,  A61B34/71 ,  A61B2017/003 ,  A61B2017/00845 ,  A61B2017/2902 ,  A61B2017/2948 ,  A61B2017/3441 ,  Y10T74/20323

Abstract: A flexible surgical instrument employs sheaths around tendons that actuate an end effector or other mechanisms in a distal tip of the instrument. A liquid lubricant can be introduced in the sheaths to reduce friction, and the sheaths can be porous or non-porous. The lubricant can be confined, for example, with an o-ring or a bellow seal, to keep lubricant from leaking where the tendons extend out of the sheaths. More generally, the distal end of the instrument is sealed to prevent leakage of lubricant into a patient. To further reduce risks, a non-toxic water-based lubricant can be used.

Abstract translation: 柔性手术器械使用围绕腱的护套，其致动末端执行器或器械的远端中的其它机构。 可以在护套中引入液体润滑剂以减少摩擦，并且护套可以是多孔的或非多孔的。 润滑剂可以例如用O形圈或波纹管密封件限制，以防止润滑剂在钢筋伸出护套之外泄漏。 更通常地，仪器的远端被密封以防止润滑剂渗漏到患者体内。 为了进一步降低风险，可以使用无毒的水性润滑剂。

公开(公告)号：WO2010039394A1

公开(公告)日：2010-04-08

申请号：PCT/US2009/056078

申请日：2009-09-04

Applicant: INTUITIVE SURGICAL, INC.

Inventor： DIOLAITI, Nicola ,  LARKIN, David, Q. ,  GOMEZ, Daniel ,  MUSTAFA, Tabish ,  MOHR, Paul, W. ,  LILAGAN, Paul, E.

IPC: A61B19/00 ,  B25J3/00 ,  G06T17/00 ,  G09B23/28

CPC classification number: A61B1/00149 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00087 ,  A61B1/00154 ,  A61B1/05 ,  A61B1/313 ,  A61B5/065 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/77 ,  A61B90/03 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00119 ,  A61B2034/102 ,  A61B2034/2074 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2090/364 ,  A61B2090/365 ,  G06T7/70 ,  G09B23/285

Abstract: A medical robotic system includes an entry guide (200) with surgical tools (231, 241) and a camera (211) extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen (140) from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.

Abstract translation: 医疗机器人系统包括具有手术工具（231,241）的入口引导件（200）和从其远端延伸出的照相机（211）。 为了补充由相机拍摄的图像提供的视图，从感测或以其他方式确定的关于它们的位置和取向的信息产生包括外科手术工具和/或相机的可铰接臂的辅助视图，并且显示在显示屏（140）上 指定观察点的透视图。 当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。

公开(公告)号：WO2010039387A1

公开(公告)日：2010-04-08

申请号：PCT/US2009/055727

申请日：2009-09-02

Applicant: INTUITIVE SURGICAL, INC.

Inventor： PRISCO, Giuseppe

IPC: B25J9/10

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00477 ,  A61B2034/2061 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2034/715 ,  B25J9/1045

Abstract: A robotic surgical system uses a passive preload system attached to a tendon that is wrapped around a capstan to control relaxed tension in the tendon. The passive preload system can employ a spring or other structure to apply tension to the tendon. The capstan can be driven by a motor when the tendon is needed to pull on a structural member of the instrument. For example, for the application of clamping pressure or movement of the structural member against resistance, capstan friction can produce the tendon tension that is many times the tension applied by the passive preload system. However, when the tendon is not needed to apply force to the member, the capstan can be freed, so that the spring system provides enough tension to prevent derailment or other malfunctions of the tendon. The low tension in relaxed tendons can reduce tendon friction, particularly in instruments with flexible shafts.

Abstract translation: 机器人手术系统使用附着在腱上的被动预加载系统，其缠绕在绞盘上以控制腱中的松弛张力。 被动预加载系统可以采用弹簧或其他结构来对腱施加张力。 当需要腱拉动仪器的结构构件时，绞盘可由电机驱动。 例如，为了施加夹紧压力或结构构件抵抗阻力的运动，绞盘摩擦力可产生多倍于被动预加载系统施加的张力的腱张力。 然而，当不需要对构件施加力的肌腱时，可以释放绞盘，使得弹簧系统提供足够的张力以防止腱的脱轨或其他故障。 松弛腱中的低张力可以减少腱摩擦，特别是在具有柔性轴的仪器中。

公开(公告)号：WO2010036493A1

公开(公告)日：2010-04-01

申请号：PCT/US2009/055695

申请日：2009-09-02

Applicant: INTUITIVE SURGICAL, INC.

Inventor： MOHR, Paul W. ,  ROBINSON, David W.

IPC: B25J9/16 ,  A61B19/00

CPC classification number: A61B19/5225 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/37 ,  A61B2090/0811 ,  B25J9/1689 ,  B25J9/1692 ,  G05B2219/39024 ,  G05B2219/45123 ,  Y10S901/02 ,  Y10S901/06 ,  Y10S901/09

Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract translation: 状态方向的连续变化以图形方式提供在显示屏幕上，以帮助用户执行用于在医疗机器人系统中的操作模式之间转换或执行校正动作的必要动作。 医疗机器人系统的元件的目标状态的图形表示显示在用户可以看到的显示屏幕上。 持续确定元件的当前状态和指示用户将元件操纵到目标状态的指示，并且连续确定的当前状态和指示的图形表示与目标状态的显示屏幕一起显示在显示屏幕上。

公开(公告)号：WO2010009224A1

公开(公告)日：2010-01-21

申请号：PCT/US2009/050682

申请日：2009-07-15

Applicant: INTUITIVE SURGICAL, INC.

Inventor： BURBANK, William, A.

IPC: A61B19/00 ,  B25J9/00 ,  B25J17/00

CPC classification number: A61B34/30 ,  A61B34/71 ,  A61B2034/305 ,  Y10T74/20335

Abstract: A transmission or backend mechanism for a medical instrument connects four cables to three motorized degrees of freedom. The transmission employs a first drive mechanism attached to first and second cables and a second drive mechanism attached to third and fourth cables, where each mechanism can include a capstan or a lever system that pulls in one cable while simultaneously feeding out another cables. A third drive mechanism has a first pivot about which a portion of the first drive mechanism rotates, a second pivot about which a portion of the second drive mechanism rotates, and a third pivot about which the third drive mechanism rotates. Rotation of the third drive mechanism about the third pivot pulls in at least one of the first and second cables and feeds out at least one of the third and fourth cables.

Abstract translation: 用于医疗器械的传输或后端机构将四根电缆连接到三个机动自由度。 变速器采用附接到第一和第二缆索的第一驱动机构和连接到第三和第四缆线的第二驱动机构，其中每个机构可以包括主导轮或杠杆系统，其拉动一根电缆同时输出另一根电缆。 第三驱动机构具有第一枢轴，第一驱动机构的一部分绕其旋转;第二枢轴，第二驱动机构的一部分绕其旋转;第三枢轴，第三驱动机构围绕第三枢轴旋转。 第三驱动机构围绕第三枢轴的旋转在第一和第二电缆中的至少一个中拉动并且馈送出第三和第四电缆中的至少一个。

公开(公告)号：WO2009085616A1

公开(公告)日：2009-07-09

申请号：PCT/US2008/086249

申请日：2008-12-10

Applicant: INTUITIVE SURGICAL, INC.

Inventor： NIXON, Thomas R. ,  NIXON, Margaret, M. ,  NOWLIN, William, C.

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61B34/37 ,  A61B90/361 ,  A61B2034/305 ,  A61B2090/061 ,  A61B2090/0811

Abstract: A medical robotic system has functionality to determine and display information of a distance indicated by movement of one or more tools being robotically manipulated by an operator. The distance is determined using sensed robotic manipulation of the one or more tools. Information of the distance is displayed on the monitor so as to be visually associated with the movement and/or positions of the tools, such as a virtual tape measure that extends along with or between images of the one or more tools on the monitor or as a virtual ruler with the distance being indicated by a pointer. Alternatively, information of the distance may simply be indicated on a digital read-out shown on the monitor that is displayed and continually updated with the movement of the one or more tools.

Abstract translation: 医疗机器人系统具有确定和显示由操作者机器人操作的一个或多个工具的移动所指示的距离的信息的功能。 使用感测到的一个或多个工具的机器人操纵来确定距离。 距离的信息显示在监视器上，以便与工具的移动和/或位置可视地相关联，例如与监视器上的一个或多个工具的图像一起或之间延伸的虚拟卷尺，或者作为 具有距离的虚拟标尺由指针指示。 或者，可以简单地在显示器上显示的数字读出中指示距离的信息，并且随着一个或多个工具的移动而持续更新距离。

公开(公告)号：WO2009045698A1

公开(公告)日：2009-04-09

申请号：PCT/US2008/076129

申请日：2008-09-12

Applicant: INTUITIVE SURGICAL, INC.

Inventor： SCHENA, Bruce, M. ,  DEVENGENZO, Roman

IPC: A61B19/00

CPC classification number: A61B90/50 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/304 ,  A61B2090/5025 ,  A61B2090/506 ,  A61B2090/508 ,  Y10T74/20305 ,  Y10T74/20329 ,  Y10T74/20335

Abstract: A spatial linkage including an inboard gimbal plate that provides a ground for the spatial linkage, an outboard gimbal plate, and three links that couple the outboard gimbal plate to the inboard gimbal plate. Each link has a longitudinal axis and two pivotal couplings disposed at opposite ends of the longitudinal axis. Each link is pivotally coupled to the outboard gimbal plate at a first end of the longitudinal axis and pivotally coupled to the inboard gimbal plate at a second end of the longitudinal axis opposite the first end. The pivotal couplings allow the outboard gimbal plate to move relative to the inboard gimbal plate and preventing relative rotation between the outboard gimbal plate and the inboard gimbal plate.

Abstract translation: 一个空间连杆，包括一个内部万向平板，为空间联动提供了一个地面，一个外侧万向节板，以及将外侧万向节板连接到内侧万向节板上的三个连杆。 每个连杆具有纵向轴线，并且两个枢转联接件设置在纵向轴线的相对端。 每个连杆在纵向轴线的第一端处枢转地联接到外侧万向节板，并且在与第一端相对的纵向轴线的第二端处枢转地联接到内侧万向节板。 枢转联轴器允许外侧万向节板相对于内侧万向节板移动，并防止外侧万向节板和内侧万向节板之间的相对旋转。

公开(公告)号：WO2009045697A3

公开(公告)日：2009-04-09

申请号：PCT/US2008/076123

申请日：2008-09-12

Applicant: INTUITIVE SURGICAL, INC.

Inventor： BLUMENKRANZ, Stephen J. ,  LARKIN, David Q.

IPC: A61B19/00

Abstract: An apparatus, system, and method for improving force and torque sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.