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    Computer-assisted teleoperated surgery systems and methods
    25.
    发明授权
    Computer-assisted teleoperated surgery systems and methods 有权

    公开(公告)号：US11564760B2

    公开(公告)日：2023-01-31

    申请号：US16340966

    申请日：2017-10-17

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： John Ryan Steger ,  Ryan Charles Abbott ,  Daniel H. Gomez

    IPC: A61B90/50 ,  A61B34/35 ,  A61B34/30 ,  A61B50/20 ,  B25J9/10 ,  B25J9/16 ,  A61B17/00 ,  A61B17/34

    Abstract: A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.

    Surgical instrument drive element, and related devices, systems, and methods
    26.
    发明授权
    Surgical instrument drive element, and related devices, systems, and methods 有权

    公开(公告)号：US11564734B2

    公开(公告)日：2023-01-31

    申请号：US16918026

    申请日：2020-07-01

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Samuel T. Crews ,  John Ryan Steger

    IPC: A61B18/14 ,  A61B17/29 ,  A61B18/00 ,  A61B34/30 ,  A61B34/35

    Abstract: A surgical instrument includes a shaft having a proximal end and a distal end and end effector coupled to the distal end of the shaft. An electrical transmission conduit extends along the shaft from the proximal end to the distal end and is configured to deliver electrical energy to energize the end effector. A connector assembly electrically couples the electrical transmission conduit to the end effector, and the end effector is pivotably coupled to the connector assembly. In another aspect, a surgical instrument includes a pin, an electrically conductive connector including a contact portion and an attachment, the contact portion surrounding the pin. An electrical conduit is electrically coupled to the attachment of the connector. An electrically conductive jaw including an aperture is pivotable around the contact portion, and the contact portion electrically contacts the jaw at the aperture of the jaw.

    Medical apparatus with optical sensing, and related devices and methods
    27.
    发明授权
    Medical apparatus with optical sensing, and related devices and methods 有权

    公开(公告)号：US11510694B2

    公开(公告)日：2022-11-29

    申请号：US16636500

    申请日：2018-08-10

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Natalie Burkhard ,  John Ryan Steger

    IPC: A61B17/29 ,  A61B90/00 ,  A61B34/00 ,  A61B17/00

    Abstract: A medical apparatus can include an instrument comprising a shaft and a jaw assembly coupled to an end of the shaft; an image capture device; and a controller operably coupled to the image capture device to receive image data from the image capture device. The image data is from images of material gripped between jaw members of the jaw assembly and captured by the image capture device, with the controller programmed to process the received image data using at least one of optical flow and digital image correlation. A medical apparatus can include an instrument comprising a shaft, and a jaw assembly coupled to an end of the shaft, the jaw assembly comprising a pair of jaw members having opposing surfaces configured to grasp material between the opposing surfaces, wherein at least a portion of the opposing surface of a first jaw member of the pair of jaw members is transparent.

    Medical instrument with snake wrist structure
    29.
    发明授权
    Medical instrument with snake wrist structure 有权

    公开(公告)号：US11357526B2

    公开(公告)日：2022-06-14

    申请号：US16432547

    申请日：2019-06-05

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： John Ryan Steger

    IPC: A61B17/29 ,  A61B34/30 ,  A61B17/00

    Abstract: A medical instrument includes a snake wrist structure further including: a first joint disk having a first rim having a first tooth slot and a first toothed gear with the first tooth slot opposite the first toothed gear along the first rim; and a first strut having a first slot bearing and a first hole bearing connected by a first connection strut with the first slot bearing in the first tooth slot.

    SYSTEMS AND METHODS FOR A KINEMATICALLY-CONTROLLED REMOTE CENTER MANIPULATOR
    30.
    发明申请
    SYSTEMS AND METHODS FOR A KINEMATICALLY-CONTROLLED REMOTE CENTER MANIPULATOR 有权

    公开(公告)号：US20220175480A1

    公开(公告)日：2022-06-09

    申请号：US17540396

    申请日：2021-12-02

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Ashley Lynne Oliver ,  Ryan C. Abbott ,  Bram Gilbert Antoon Lambrecht ,  John Ryan Steger

    IPC: A61B34/00 ,  B25J9/10

    Abstract: A manipulator for articulating a surgical instrument may comprise an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion. The manipulator may comprise a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion. The linkage assembly may comprise a first, second, and third linkage arms. The second linkage arm may be rotatably coupled to the first linkage arm with a proximal end of the first linkage arm and a proximal end of the second linkage arm coupled at a proximal pivot joint. A third linkage arm may be translationally coupled to the second linkage arm. Movement of the second linkage arm and the third linkage arm may cause a distal end of the third linkage arm to trace an arc around the remote center of motion.

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