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    Sealing and Cutting Surgical Instrument With Advanced Feedback Loop
    13.
    发明申请
    Sealing and Cutting Surgical Instrument With Advanced Feedback Loop 有权

    公开(公告)号：US20220296264A1

    公开(公告)日：2022-09-22

    申请号：US17837436

    申请日：2022-06-10

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Benjamin J. Schoettgen ,  David Robinson ,  Pushkar Hingwe ,  Patrick Flanagan

    IPC: A61B17/29 ,  A61B18/14 ,  A61B17/072

    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.

    Surgical patient side cart with drive system and method of moving a patient side cart
    17.
    发明授权
    Surgical patient side cart with drive system and method of moving a patient side cart 有权
    具有驱动系统的外科患者侧车和移动患者侧车的方法

    公开(公告)号：US09101348B2

    公开(公告)日：2015-08-11

    申请号：US14209239

    申请日：2014-03-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David Robinson ,  Nitish Swarup ,  John Zabinski ,  Mark Zimmer

    IPC: B62D6/00 ,  A61B19/02 ,  B25J5/00 ,  A61B19/00

    CPC classification number: A61B19/0248 ,  A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2050/185 ,  B25J5/007 ,  G05D1/0011

    Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.

    Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。

    METHODS AND SYSTEMS FOR INDICATING A CLAMPING PREDICTION
    19.
    发明申请
    METHODS AND SYSTEMS FOR INDICATING A CLAMPING PREDICTION 审中-公开
    用于指示钳位预测的方法和系统

    公开(公告)号：US20170071679A1

    公开(公告)日：2017-03-16

    申请号：US15364114

    申请日：2016-11-29

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： DAVID WEIR ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

    IPC: A61B34/00 ,  G06F3/14 ,  A61B34/37 ,  A61B90/00 ,  A61B17/072 ,  A61B17/29

    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 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。

    Methods and systems for assigning input devices to teleoperated surgical instrument functions
    20.
    发明授权
    Methods and systems for assigning input devices to teleoperated surgical instrument functions 有权
    将输入装置分配给远程手术器械功能的方法和系统

    公开(公告)号：US09301811B2

    公开(公告)日：2016-04-05

    申请号：US14028006

    申请日：2013-09-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Randal P Goldberg ,  Michael Hanuschik ,  Paul Millman ,  Paul W. Mohr ,  Thomas R. Nixon ,  David Robinson

    IPC: A61B19/00 ,  A61B18/14 ,  A61B17/00

    CPC classification number: A61B34/35 ,  A61B18/00 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/98 ,  A61B2017/00225 ,  A61B2017/00973 ,  A61B2034/254 ,  G05B2219/40195

    Abstract: A method of assigning an auxiliary input device to control a surgical instrument in a robotic surgical system can include automatically assigning an auxiliary input device to control an auxiliary function of a surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating another input device operably coupled to control movement of the surgical instrument. A system for controlling a surgical instrument may include an input device of a surgical system that is operably coupled to generate and transmit an input control signal to control movement of a surgical instrument operably coupled to the surgical system. The system may further include an auxiliary input device, and a control system operably coupling the auxiliary input device to control an auxiliary function of the surgical instrument based on a position of the auxiliary input device and which of a user's hands is operating the input device.

    Abstract translation: 分配辅助输入装置以控制机器人手术系统中的外科器械的方法可以包括：根据辅助输入装置的位置和用户的手中的哪一个自动分配辅助输入装置来控制外科器械的辅助功能 正在操作另一输入装置，其可操作地联接以控制手术器械的运动。 用于控制外科器械的系统可以包括外科系统的输入装置，其可操作地联接以产生和传送输入控制信号，以控制可操作地联接到手术系统的手术器械的运动。 该系统还可以包括辅助输入装置和控制系统，该控制系统可操作地联接辅助输入装置以基于辅助输入装置的位置和用户的手操作输入装置来控制外科器械的辅助功能。

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