公开(公告)号：US11998398B2

公开(公告)日：2024-06-04

申请号：US17110944

申请日：2020-12-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Melody Wu ,  David W. Weir

IPC: A61B90/00 ,  A61B17/285 ,  A61B17/3205 ,  A61B18/08 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B34/35 ,  B25J9/16 ,  A61B17/00 ,  A61B17/072 ,  A61B18/14 ,  A61B34/30

CPC classification number: A61B90/03 ,  A61B17/285 ,  A61B17/3205 ,  A61B18/085 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/32 ,  A61B34/35 ,  B25J9/163 ,  B25J9/1633 ,  A61B2017/003 ,  A61B2017/07285 ,  A61B18/1445 ,  A61B2018/1455 ,  A61B2034/102 ,  A61B2034/306 ,  A61B34/71 ,  A61B2090/031

Abstract: A system and method of force or torque limit compensation includes a surgical instrument for use with a computer-assisted medical device. The surgical instrument includes an end effector located at a distal end of the instrument, a drive unit for operating a degree of freedom of the instrument, a shaft coupled to the drive unit, and one or more drive mechanisms in the shaft for coupling force or torque from the drive unit to the end effector and the articulated wrist. To control the degree of freedom, the instrument is configured to determine a current position of the degree of freedom, determine a force or torque limit compensation based on the current position, alter one or more force or torque limits based on the force or torque limit compensation, and adjust the degree of freedom subject to the one or more force or torque limits.

公开(公告)号：US20240041456A1

公开(公告)日：2024-02-08

申请号：US18488496

申请日：2023-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B17/072 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30

CPC classification number: A61B17/07207 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30 ,  A61B2017/00039

Abstract: Surgical systems and related methods for detecting whether a surgical instrument lacks a surgical cartridge in an unfired condition. A method of detecting that a surgical instrument lacks a surgical cartridge in an unfired condition mounted to the surgical instrument includes commanding a movement of the actuation output in a direction opposite to a firing direction for the surgical cartridge, detecting that an actuation amount of the actuation output as a result of the commanded movement is at or above a threshold actuation amount, and in response to detecting that the actuation amount of the actuation output is at or above the threshold actuation amount, determining that the surgical instrument lacks a surgical cartridge in the unfired condition mounted to the surgical instrument.

公开(公告)号：US11812921B2

公开(公告)日：2023-11-14

申请号：US17066110

申请日：2020-10-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B17/072 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B34/30 ,  A61B34/37 ,  A61B50/13 ,  A61B2017/00039 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2090/0804 ,  A61B2090/0808

Abstract: Surgical systems configured to determine whether a surgical cartridge is present and unfired. A surgical system includes a surgical instrument, a drive source, a sensor and a controller. The surgical instrument is configured to receive and support a surgical cartridge. The drive source is drivingly coupled with an actuation output. The sensor is configured to generate a sensor output indicative of movement of the actuation output. The controller controls the drive source to attempt to actuate the actuation output opposite to the firing direction by a predetermined amount. The controller determines that the surgical cartridge is present and unfired when the resulting actuation amount of the actuation output is less than a threshold actuation amount.

公开(公告)号：US11737836B2

公开(公告)日：2023-08-29

申请号：US17102210

申请日：2020-11-23

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Michael Waldo ,  Melody Wu

IPC: A61B34/30 ,  A61B34/00 ,  A61B18/14 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B34/30 ,  A61B18/1442 ,  A61B18/1445 ,  A61B34/00 ,  A61B2017/003 ,  A61B2018/1455 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

公开(公告)号：US11642127B2

公开(公告)日：2023-05-09

申请号：US16760895

申请日：2018-11-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/00367 ,  A61B2017/07271

Abstract: End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.

公开(公告)号：US10828030B2

公开(公告)日：2020-11-10

申请号：US13662385

申请日：2012-10-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B34/37 ,  A61B17/072 ,  A61B50/13 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: Surgical systems and related methods verify the presence of an unfired surgical cartridge mounted to a surgical instrument. The cartridge includes an input that is actuated in a firing direction to operate the cartridge. An actuation input that is limited to less than or equal to a predetermined magnitude is generated. The actuation input includes at least one of a torque or a force. The actuation input is transferred to an output of a surgical instrument to attempt to actuate the output opposite to the firing direction by a predetermined amount. The output is drivingly coupled with the cartridge input when the cartridge is mounted to the surgical instrument. The resulting actuation of the output is measured and compared with a threshold actuation amount. A determination is made that the cartridge is present and unfired when the resulting actuation of the output is less than the threshold actuation amount.

公开(公告)号：US10327773B2

公开(公告)日：2019-06-25

申请号：US15349902

申请日：2016-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/90 ,  A61B90/92 ,  A61B90/98 ,  A61B90/00 ,  A61B17/00 ,  A61B17/29 ,  A61B18/14 ,  A61B18/00

Abstract: Embodiments of a clamping instrument are disclosed. In some embodiments, a clamping device with calibrated parameters and a calibration process for the clamping device is presented. A method of calibrating a clamping instrument can include acquiring a data set of clamping torque as a function of tip deflection data for the clamping instrument; determining a torque limit from the data set; and storing the torque limit in the clamping instrument.

公开(公告)号：US12011167B2

公开(公告)日：2024-06-18

申请号：US17160288

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. Weir ,  Gabriel F. Brisson ,  William A. Burbank ,  Amir Chaghajerdi ,  Patrick Flanagan ,  Pushkar Hingwe ,  Andrew Wilson ,  Donald F. Wilson, Jr. ,  Matthew A. Wixey

IPC: A61B17/00 ,  A61B17/072 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B17/07207 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/06 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00128 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0725 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/2059 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/066

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.

公开(公告)号：US11832900B2

公开(公告)日：2023-12-05

申请号：US17306721

申请日：2021-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

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

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

公开(公告)号：US11633185B2

公开(公告)日：2023-04-25

申请号：US17370818

申请日：2021-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

Abstract: End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.