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：WO2012112251A1

公开(公告)日：2012-08-23

申请号：PCT/US2012/021342

申请日：2012-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  WEIR, David ,  DUQUE, Grant ,  DURANT, Kevin ,  FLANAGAN, Patrick ,  NIXON, Maggie ,  ROBINSON, David ,  ZABINSKI, John

Inventor： WEIR, David ,  DUQUE, Grant ,  DURANT, Kevin ,  FLANAGAN, Patrick ,  NIXON, Maggie ,  ROBINSON, David ,  ZABINSKI, John

IPC: A61B17/072

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

Abstract: End effectors with closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

Abstract translation: 具有关闭机构的结束执行器以及相关的工具和方法被公开。 所公开的末端效应器在用于微创手术时可能是特别有益的。 一种示例性外科手术工具包括可在关闭的被抓握或夹紧构型和打开构型之间移动的第一和第二钳口。 该工具进一步包括用于在第一力处抓住组织的软抓握模式，在该第一力期间测量夹爪之间的分离参数，以及治疗夹紧模式，其中夹爪以大于抓握力的力夹紧在身体组织上。 所述方法包括抓住钳口构件之间的身体组织，测量钳口之间的分离参数，在用户界面上指示分离参数以与期望的分离参数进行比较，然后释放身体组织以重新定位或治疗性地夹紧身体组织以作出响应 到分离参数指示。

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。

公开(公告)号：WO2013063522A9

公开(公告)日：2013-10-03

申请号：PCT/US2012062298

申请日：2012-10-26

Applicant: REID ROBERT CYRUS ,  ZABINSKI JOHN W ,  LOH ALAN ETON ,  SCHENA BRUCE M ,  WEIR DAVID W ,  DACHS II GREGORY W ,  BAILEY DAVID W ,  WU MELODY

Inventor： REID ROBERT CYRUS ,  ZABINSKI JOHN W ,  LOH ALAN ETON ,  SCHENA BRUCE M ,  WEIR DAVID W ,  DACHS II GREGORY W ,  BAILEY DAVID W ,  WU MELODY

IPC: A61B19/00 ,  A61B17/29 ,  B25J17/00 ,  B25J19/00

CPC classification number: A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/302 ,  Y10T403/60

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract translation: 闩锁机构选择性地将第一组件保持在第二组件上。 第一和第二组件被构造成沿着接合轴线滑动接合。 闩锁机构包括安装到第一组件以围绕闩锁轴线旋转的闩锁轴，相对于第一组件偏压闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动锁定。 横向闩锁构件与闩锁轴相互作用以响应于第一组件朝向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致闩锁轴与第一方向相反的旋转成保持横向闩锁构件的保持构造。

公开(公告)号：WO2013063522A3

公开(公告)日：2013-08-08

申请号：PCT/US2012062298

申请日：2012-10-26

Applicant: REID ROBERT CYRUS ,  ZABINSKI JOHN W ,  LOH ALAN ETON ,  SCHENA BRUCE M ,  WEIR DAVID W ,  DACHS II GREGORY W ,  BAILEY DAVID W ,  WU MELODY

Inventor： REID ROBERT CYRUS ,  ZABINSKI JOHN W ,  LOH ALAN ETON ,  SCHENA BRUCE M ,  WEIR DAVID W ,  DACHS II GREGORY W ,  BAILEY DAVID W ,  WU MELODY

IPC: A61B19/00 ,  A61B17/29 ,  B25J17/00 ,  B25J19/00

CPC classification number: A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/302 ,  Y10T403/60

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract translation: 闩锁机构选择性地将第一组件保持到第二组件。 第一和第二组件构造成沿接合轴线滑动接合。 闩锁机构包括安装到第一组件上以围绕闩锁轴线旋转的闩锁轴，用于相对于第一组件偏置闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动闩锁。 横向闩锁构件与闩锁轴相互作用以响应于第一组件向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致与第一方向相反的闩锁轴旋转成保持横向闩锁构件的保持构型。

公开(公告)号：WO2013063522A2

公开(公告)日：2013-05-02

申请号：PCT/US2012/062298

申请日：2012-10-26

Applicant: REID, Robert Cyrus ,  ZABINSKI, John W. ,  LOH, Alan Eton ,  SCHENA, Bruce M. ,  WEIR, David W. ,  DACHS II, Gregory W. ,  BAILEY, David W. ,  WU, Melody

Inventor： REID, Robert Cyrus ,  ZABINSKI, John W. ,  LOH, Alan Eton ,  SCHENA, Bruce M. ,  WEIR, David W. ,  DACHS II, Gregory W. ,  BAILEY, David W. ,  WU, Melody

IPC: A61B19/00 ,  A61B17/29 ,  B25J17/00 ,  B25J19/00

CPC classification number: A61B19/2203 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B2017/00477 ,  A61B2034/302 ,  Y10T403/60

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract translation: 闩锁机构选择性地将第一组件保持到第二组件。 第一和第二组件构造成沿接合轴线滑动接合。 闩锁机构包括安装到第一组件上以围绕闩锁轴线旋转的闩锁轴，用于相对于第一组件偏置闩锁轴的扭转弹簧以及与第二组件联接的横向闩锁构件。 闩锁机构构造成响应于第一组件被推向第二组件而自动闩锁。 横向闩锁构件与闩锁轴相互作用以响应于第一组件向第二组件的移动而沿第一方向旋转闩锁轴。 第一组件朝向第二组件的进一步运动导致与第一方向相反的闩锁轴旋转成保持横向闩锁构件的保持构型。