公开(公告)号：US20160058512A1

公开(公告)日：2016-03-03

申请号：US14478311

申请日：2014-09-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： DANIEL H. GOMEZ ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert Elliot Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC: A61B19/00

CPC classification number: A61B17/3421 ,  A61B17/0218 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2090/5025 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  Y10T74/20305

Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.

Abstract translation: 提供机器人手术系统和将手术器械耦合到操纵臂的方法。 在一个实施例中，系统包括基座; 可操作地耦合到所述基座的设置链路，所述设置链路为所述机器人手术系统定位远程运动中心; 可操作地耦合到所述设置链路的近端链路; 以及可操作地联接到近端连杆的远端连杆。 多个仪器操纵器可旋转地联接到远端连杆的远端，每个仪器操纵器包括从框架的远端向远侧突出的多个致动器输出。

公开(公告)号：US12102400B2

公开(公告)日：2024-10-01

申请号：US18450295

申请日：2023-08-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/00 ,  A61B34/37 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.

公开(公告)号：US11992936B2

公开(公告)日：2024-05-28

申请号：US16881568

申请日：2020-05-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  David Q. Larkin ,  Kent M. Anderson ,  Jeffrey D. Brown ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/50 ,  A61B90/90 ,  B25J15/00 ,  A61B17/34

CPC classification number: B25J15/0028 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US11766301B2

公开(公告)日：2023-09-26

申请号：US17236868

申请日：2021-04-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nicola Diolaiti ,  Jeffrey D. Brown ,  Daniel H. Gomez ,  Robert E. Holop ,  Anthony K. McGrogan ,  Probal Mitra ,  Craig R. Ramstad

IPC: A61B34/32 ,  A61B34/37 ,  A61B34/00 ,  A61B46/10 ,  B25J9/00

CPC classification number: A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B46/10 ,  B25J9/0009

Abstract: Techniques for controlling a moveable component include a system, a method, and/or a non-transitory computer-readable medium. A controller coupled to the moveable component is configured to hold the moveable component at a first position, detect a disturbance that moves the moveable component from the first position, in response to a detection of the disturbance, move the moveable component according to a first motion, continue to move the moveable component according to the first motion until a stop condition is detected, even if the disturbance ends before the stop condition is detected, and in response to a detection of the stop condition, hold the moveable component at a second position.

公开(公告)号：US11684439B2

公开(公告)日：2023-06-27

申请号：US16874163

申请日：2020-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Craig R. Ramstad

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H05K1/18 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/68 ,  G03B5/02 ,  H04N5/225 ,  H04N5/232 ,  A61B17/00 ,  A61B90/50

CPC classification number: A61B34/70 ,  A61B1/00135 ,  A61B1/00142 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3474 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B46/23 ,  A61B50/00 ,  A61B50/20 ,  A61B50/30 ,  A61B90/98 ,  A61M13/003 ,  B25J15/04 ,  B32B3/12 ,  F16F1/121 ,  H01F5/02 ,  H01F5/04 ,  H01F27/2823 ,  H04N23/51 ,  H04N23/54 ,  H04N23/55 ,  H04N23/57 ,  H04N23/687 ,  H05K1/18 ,  A61B2017/00477 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2034/302 ,  A61B2034/306 ,  A61B2050/3008 ,  A61B2090/5025 ,  G03B5/02 ,  G03B2205/0015 ,  G03B2205/0069 ,  H01F2005/027 ,  Y10T74/20305

Abstract: A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

公开(公告)号：US11596488B2

公开(公告)日：2023-03-07

申请号：US16851794

申请日：2020-04-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel H. Gomez ,  Jeffrey D. Brown ,  Thomas G. Cooper ,  Eugene F. Duval ,  Robert E. Holop ,  Anthony K. McGrogan ,  Craig R. Ramstad ,  Theodore W. Rogers ,  Todd R. Solomon

IPC: A61B34/00 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B17/34 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  H01F5/02 ,  H01F5/04 ,  H01F27/28 ,  H04N5/225 ,  H04N5/232 ,  H05K1/18 ,  A61B1/00 ,  A61B50/20 ,  A61B50/30 ,  B25J15/04 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50 ,  G03B5/02

Abstract: An instrument manipulator may comprise a frame comprising an outer shell and an inner frame, the inner frame being movably coupled to the outer shell. The instrument manipulator may also include a plurality of actuator outputs protruding in a distal direction from the frame and an instrument support feature coupled to the outer shell. The instrument manipulator may further comprise a latching mechanism, the latching mechanism being configured to move the inner frame, the outer shell, or both relative to one another, so as to operably engage the plurality of actuator outputs with a plurality of actuator inputs of an instrument supported by the instrument support feature.

公开(公告)号：US11484336B2

公开(公告)日：2022-11-01

申请号：US16379596

申请日：2019-04-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  William J. Park ,  Jeffrey D. Brown

IPC: A61B17/34 ,  A61B90/00 ,  A61B34/30

Abstract: A cannula cap is disclosed. A cannula cap according to some embodiments of the invention includes an instrument guide attachment; a cannula attachment; and a seal captured between the instrument guide attachment and the cannula attachment. In some embodiments, a cannula cap can include a lid; a locking ring; a base; and a cannula seal captured between the lid and the base.

公开(公告)号：US10710246B2

公开(公告)日：2020-07-14

申请号：US15327322

申请日：2015-08-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Anthony K. McGrogan ,  Thomas G. Cooper ,  David Q. Larkin ,  Kent M. Anderson ,  Jeffrey D. Brown ,  Paul E. Lilagan ,  Michael Ikeda

IPC: A61B34/30 ,  B25J15/00 ,  A61B90/50 ,  A61B90/90 ,  A61B34/00 ,  A61B17/34

Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

公开(公告)号：US10456166B2

公开(公告)日：2019-10-29

申请号：US15360311

申请日：2016-11-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Thomas G. Cooper ,  Jeffrey D. Brown ,  Nicola Diolaiti ,  Eugene F. Duval ,  Daniel H. Gomez ,  Robert E. Holop ,  Paul E. Lilagan ,  Anthony K. McGrogan ,  Craig R. Ramstad

IPC: A61B17/34 ,  B32B3/12 ,  F16F1/12 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/10 ,  A61B34/00 ,  B25J15/04 ,  A61B46/23 ,  A61B50/00 ,  A61B90/98 ,  A61B17/02 ,  A61M13/00 ,  A61B17/00 ,  A61B90/50

Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.

公开(公告)号：US20190059946A1

公开(公告)日：2019-02-28

申请号：US16119839

申请日：2018-08-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bram Gilbert Antoon Lambrecht ,  William J. Park ,  Jeffrey D. Brown

IPC: A61B17/34 ,  A61B34/30

Abstract: In accordance with aspects of the present invention, an instrument is provided. An instrument seal according to some embodiments includes a seal body that can be captured between an upper part and a lower part of an instrument guide; and openings in the seal body that align with channels on the instrument guide, wherein the seal body seals against doors in the lower part and an instrument shaft inserted through the openings.