公开(公告)号：WO2017132611A1

公开(公告)日：2017-08-03

申请号：PCT/US2017/015496

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

Abstract translation: 在计算机辅助医疗设备中对外科器械进行变速控制的系统和方法包括外科器械，该外科器械具有位于器械远端的端部执行器，致动器以及一个或多个 用于从致动器到末端执行器的耦合力或扭矩的更多驱动机构。 为了利用仪器执行操作，计算机辅助医疗设备被配置为将致动器的速度设定点设置为初始速度并且监视由致动器施加的力或转矩。 当施加的力或扭矩高于第一力或扭矩极限时，确定是否满足操作的连续条件。 当满足继续条件时，操作暂停，并且当不满足继续条件时，确定是否强制执行执行器发射。

公开(公告)号：WO2012112249A1

公开(公告)日：2012-08-23

申请号：PCT/US2012/021319

申请日：2012-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC. ,  WEIR, David ,  DURANT, Kevin ,  FLANAGAN, Patrick ,  ROBINSON, David

Inventor： WEIR, David ,  DURANT, Kevin ,  FLANAGAN, Patrick ,  ROBINSON, David

IPC: A61B17/072

CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115 ,  A61B2017/00115 ,  A61B2017/00398 ,  A61B2017/07214 ,  A61B2090/064 ,  A61B2090/0811

Abstract: Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.

Abstract translation: 提供了系统和方法，用于检测材料夹紧和/或钉入夹紧材料中的失败，并在用户界面上向用户指示这种故障。 该系统和方法特别适用于具有联接到致动器的闭合和/或击发机构的末端执行器。 通过监测执行夹紧和/或点火的致动器的驱动参数，系统和方法提供响应于所监视的驱动参数的故障的指示。 在一些实施例中，当在夹紧和/或点火期间监视的驱动参数在期望的驱动参数的可接受范围之外时，输出故障指示。 当用于微创手术时，所公开的系统和方法是特别有益的。

公开(公告)号：WO2018039181A1

公开(公告)日：2018-03-01

申请号：PCT/US2017/047929

申请日：2017-08-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： SCHOETTGEN, Benjamin J. ,  ROBINSON, David ,  HINGWE, Pushkar ,  FLANAGAN, Patrick

IPC: A61B17/28 ,  A61B17/285

CPC classification number: A61B17/29 ,  A61B17/07207 ,  A61B17/28 ,  A61B18/1445 ,  A61B2017/00115 ,  A61B2017/00734 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/1455 ,  A61B2090/065 ,  A61B2090/067 ,  A61B2090/0811

Abstract: Surgical instruments and assemblies for sealing and cutting tissue monitor jaw angle and/or jaw clamping force to provide feedback to an operator of the surgical instrument indicative of whether the tissue is suitable clamped for sealing and/or cutting. A surgical instrument or assembly includes a jaw operable to clamp tissue, a sealing mechanism, a cutting mechanism, an actuation monitoring assembly, and a feedback assembly. The actuation monitoring assembly monitors jaw angle and/or clamping force. The feedback assembly outputs feedback to the operator, based on the jaw angle and/or clamping force, as to whether the current clamping angle and/or jaw angle is suitable for sealing and/or clamping tissue.

Abstract translation: 手术器械和组件用于密封和切割组织监测器夹爪角度和/或夹爪夹紧力，以向外科器械的操作者提供反馈，指示组织是否被适当夹紧以用于密封和/或切割 。 外科器械或组件包括可操作以夹紧组织的夹爪，密封机构，切割机构，致动监测组件和反馈组件。 致动监控组件监控颌角和/或夹紧力。 基于颌夹角和/或夹紧力，反馈组件向操作者输出关于当前夹紧角度和/或颌夹角度是否适合于密封和/或夹紧组织的反馈。

公开(公告)号：WO2018071763A1

公开(公告)日：2018-04-19

申请号：PCT/US2017/056506

申请日：2017-10-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： WIXEY, Matthew Aaron ,  BURBANK, William ,  COOPER, Thomas Grosvenor ,  FLANAGAN, Patrick ,  RAGOSTA, Nicholas H. ,  WILSON, Donald Frank, Jr.

IPC: A61B34/30 ,  A61B90/00

Abstract: A surgical system includes a dynamic preload tension feature for a tensioning element that actuates a distal end component of a surgical instrument. The surgical instrument includes a chassis at a proximal end of the surgical instrument, drive components mounted in the chassis, a distal end component at a distal end of the surgical instrument, a flexible tensioning element coupled between a first of the drive components and the distal end component, and a dynamic preload tensioner mounted in the chassis and coupled to a second of the drive components. The flexible tensioning element extends along a path. The dynamic preload tensioner is configured to be driven by the second of the drive components to be moved relative to the chassis and is positioned to change the path of the flexible tensioning element as the dynamic preload tensioner moves relative to the chassis.

Abstract translation: 手术系统包括用于致动手术器械的远端部件的张紧元件的动态预加载张力特征。 外科器械包括在外科器械的近端处的底盘，安装在底盘中的驱动部件，在外科器械的远端处的远端部件，联接在第一驱动部件和远端部件之间的柔性张紧元件 以及安装在底盘中并且与驱动部件中的第二部件联接的动态预紧张紧器。 柔性张紧元件沿着路径延伸。 动态预载张紧器构造成由第二驱动部件驱动以相对于底盘移动并且定位成当动态预载张紧器相对于底盘移动时改变挠性张紧元件的路径。

公开(公告)号：WO2017132592A1

公开(公告)日：2017-08-03

申请号：PCT/US2017/015473

申请日：2017-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

Abstract translation: 用于计算机辅助医疗设备中的手术器械的可变速度控制的系统和方法，所述计算机辅助医疗设备包括位于器械远端处的末端执行器，致动器和用于耦合力的驱动机构，或者 从执行器到末端执行器的扭矩。 为了使用仪器执行操作，计算机辅助医疗设备将致动器的速度设定点设定为初始速度，监视由致动器施加的力或力矩，当施加的力或力矩高于 第一阈值，当施加的力或转矩低于第二阈值时增加速度设定点，当所施加的力或转矩高于最大阈值时，将速度设定点减小到零，并且基于速度设定点驱动致动器。 第一个和第二个阈值低于最大阈值。

公开(公告)号：WO2013074272A3

公开(公告)日：2013-05-23

申请号：PCT/US2012/062305

申请日：2012-10-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： WELLMAN, Ashley ,  BURBANK, William ,  DUQUE, Grant ,  FLANAGAN, Patrick

IPC: A61B17/32 ,  A61B17/29 ,  A61B17/94 ,  A61B19/00

Abstract: ABSTRACT OF THE DISCLOSURE A surgical instrument with a stowing knife blade includes an elongated shaft, an end effector coupled to the shaft and including two opposed jaws, a housing included in one of the jaws, a first member mounted in the housing and movable distally, a knife pivotally coupled with the first member, and a second member. The knife is configured to cut when advanced distally. The first and second members are moved distally at the same rate during a cutting motion of the knife and the second member blocks a rotation of the knife relative to the first member during the cutting motion of the knife. After moving through the first distance, relative movement between the first and second members occurs so as to permit or induce the previously blocked rotation of the knife so that the knife can be stowed.

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。