公开(公告)号：US20180325611A1

公开(公告)日：2018-11-15

申请号：US15774848

申请日：2016-11-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Robinson ,  Gabriel F. Brisson ,  Amir Chaghajerdi ,  Pushkar Hingwe ,  Donald F. Wilson, Jr.

IPC: A61B34/35 ,  A61B34/37

Abstract: Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.

公开(公告)号：US10045828B2

公开(公告)日：2018-08-14

申请号：US15619325

申请日：2017-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: G08B21/00 ,  A61B46/10 ,  A61B90/00 ,  A61B34/30 ,  A61B90/98 ,  A61B34/35 ,  A61B46/00 ,  A61B34/37 ,  A61B17/00 ,  F16H1/20

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.

公开(公告)号：US20170273752A1

公开(公告)日：2017-09-28

申请号：US15619325

申请日：2017-06-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby ,  Tyler Morrissette

IPC: A61B46/10 ,  A61B17/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/00 ,  A61B90/00 ,  A61B90/98 ,  F16H1/20

CPC classification number: A61B46/10 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B46/40 ,  A61B90/08 ,  A61B90/361 ,  A61B90/98 ,  A61B2017/00477 ,  A61B2090/0813 ,  F16H1/20 ,  Y10T29/49817 ,  Y10T403/59

Abstract: An instrument carriage provides control of a surgical instrument coupled to the instrument carriage. The instrument carriage includes a control surface that is coupled to the surgical instrument to provide the control. A detection pin having a first distal end that extends from the control surface is coupled to the instrument carriage. A magnet is fixed to a proximal end of the detection pin. A carriage controller provides an indication that the surgical instrument is present on the instrument carriage when movement of the detection pin causes an output signal from a Hall effect sensor to exceed a presence threshold value that is stored in the carriage controller as part of a calibration procedure during the assembly of the instrument carriage. Surgical instrument removal may be indicated when detection pin movement causes the output signal to be less than a removal threshold value of less than the presence threshold value.

公开(公告)号：US20160361131A1

公开(公告)日：2016-12-15

申请号：US15121374

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Gregory W. Dachs, II ,  Bruce Michael Schena ,  Amir Chaghajerdi ,  Niels Smaby

IPC: A61B90/00 ,  A61B34/35

CPC classification number: A61B34/30 ,  A61B2017/00477 ,  A61B2090/0813

Abstract: A sterile adapter for coupling a surgical instrument and a surgical instrument manipulator includes a bottom component and a coupling component. The bottom component includes a bottom component opening with a bottom lip having a locking mechanism. The coupling component is rotatably coupled to the bottom component. The coupling component includes an engagement feature that engages the surgical instrument manipulator. The coupling component further includes a locking mechanism opening that engages the locking mechanism when the engagement feature has not engaged the surgical instrument manipulator. The coupling component may include a retention tab that is aligned with the keyway to insert the coupling component into the bottom component opening and then misaligned with the keyway to retain the coupling component in the bottom component opening. A ramp may be provided on a leading edge of a pocket to facilitate engaging the coupling component with the surgical instrument manipulator.

Abstract translation: 用于联接外科器械和外科器械操纵器的无菌适配器包括底部部件和联接部件。 底部部件包括具有带有锁定机构的底部唇部的底部部件开口。 联接部件可旋转地联接到底部部件。 联接部件包括接合外科器械操纵器的接合特征。 联接部件还包括当接合特征未接合外科器械操纵器时与锁定机构接合的锁定机构开口。 联接部件可以包括与键槽对准的保持突片，以将联接部件插入底部部件开口中，然后与键槽不对准，以将联接部件保持在底部部件开口中。 斜槽可以设置在口袋的前缘上，以便于使联接部件与手术器械操纵器接合。