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公开(公告)号：US20170215974A1
公开(公告)日：2017-08-03
申请号：US15488173
申请日：2017-04-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.
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公开(公告)号：US20160030119A1
公开(公告)日：2016-02-04
申请号：US14814858
申请日：2015-07-31
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
IPC: A61B19/00
CPC classification number: A61B34/37 , A61B2017/00075 , A61B2090/064
Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive, active, or semi-active damper. The damper can mitigate a vibration arising in one of the set-up linkages, and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback model and a feed-forward model.
Abstract translation: 本文公开了用于减轻手术系统中的振动的方法和系统。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是无源，有源或半主动阻尼器。 阻尼器可以减轻在其中一个装置连杆中产生的振动，并且阻尼器可以防止在其中一个连杆中产生的振动影响另一个装置连杆。 有源和半主动阻尼器可以通过反馈模型和前馈模型进行控制。
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公开(公告)号：US12053252B2
公开(公告)日：2024-08-06
申请号：US18318370
申请日：2023-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Allen C. Thompson , Randal P. Goldberg , Dean F. Hoornaert , Tyler J. Morrissette , Bruce M. Schena
CPC classification number: A61B34/35 , A61B17/3476 , A61B34/30 , A61B46/10 , A61B2017/00477 , A61B2017/00862 , A61B2017/00876 , A61B17/34 , A61B2090/0808
Abstract: A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body to move the pair of clamping components between a first state to unclamp a cannula mounted at the cannula mount and a second state to clamp a cannula mounted at the cannula mount. Pivoting motion of the latch assembly relative to the body causes a portion of the latch assembly to slide along the clamping component and change a state of the pair of clamping components from an unlocked state to a locked state in the second state of the pair of clamping components.
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公开(公告)号：US11766303B2
公开(公告)日：2023-09-26
申请号：US18080577
申请日：2022-12-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
CPC classification number: A61B34/37 , A61B2017/00075 , A61B2090/064
Abstract: Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.
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公开(公告)号：US11696804B2
公开(公告)日：2023-07-11
申请号：US16376915
申请日：2019-04-05
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
CPC classification number: A61B34/37 , B25J17/0208 , B25J19/0091
Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. In some embodiments the damper is a squeeze film damper. In some embodiments, the squeeze film damper includes an insert having a plurality of first protrusions, a cup configured to receive the insert, and the cup having a having a plurality of second protrusions interdigitated with the plurality of first protrusions.
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Patent Agency Ranking
公开(公告)号：US11690689B2
公开(公告)日：2023-07-04
申请号：US17133877
申请日：2020-12-24
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J19/02 , B25J19/021 , B25J19/023 , B25J19/04
Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.
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公开(公告)号：US11234782B2
公开(公告)日：2022-02-01
申请号：US16995716
申请日：2020-08-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. Devengenzo , Bruce M. Schena , David W. Robinson
Abstract: Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link.
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公开(公告)号：US11197729B2
公开(公告)日：2021-12-14
申请号：US16594705
申请日：2019-10-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Allen C. Thompson , Randal P. Goldberg , Dean F. Hoornaert , Tyler J. Morrissette , Bruce M. Schena
Abstract: A cannula sterile adaptor for a surgical system includes a first portion comprising a rigid material and a second portion comprising a compliant material. one of the first portion and the second portion comprises a depression arranged to receive a clamping arm of a cannula mount of the surgical system.
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公开(公告)号：US10899021B2
公开(公告)日：2021-01-26
申请号：US16860569
申请日：2020-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David Robinson , Matthew R. Cavalier , Gregory W. Dachs , Michael Hanuschik , Jason Jiang , Paul W. Mohr , Bruce M. Schena , Mark W. Zimmer
IPC: B25J19/00 , A61B50/13 , A61B34/30 , A61B34/35 , A61B34/00 , B25J5/00 , A61B17/00 , A61B90/00 , B62B5/04
Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
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公开(公告)号：US20200275826A1
公开(公告)日：2020-09-03
申请号：US16813235
申请日：2020-03-09
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Bruce M. Schena
Abstract: A surgical instrument and control console include connectors that provide coupling for at least two operational channels for the surgical instrument. By incorporating discrete engagement elements for each operational channel in a single connector housing, robust, reliable, and efficient connections can be made.
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