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    SELF-ANTAGONISTIC DRIVE FOR MEDICAL INSTRUMENTS
    21.
    发明申请
    SELF-ANTAGONISTIC DRIVE FOR MEDICAL INSTRUMENTS 有权
    医用仪器的自锁式驱动器

    公开(公告)号：US20140128849A1

    公开(公告)日：2014-05-08

    申请号：US14068127

    申请日：2013-10-31

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

    IPC: A61B17/00

    CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/715

    Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.

    Abstract translation: 包括安装在轴的远端处的轴和致动结构的医疗器械可以使用连接到致动结构的一对腱，沿轴向下延伸，并且在相反方向上分别卷绕在绞盘上。 可以联接预加载系统以维持腱中的最小张力。

    Flexible medical instrument
    23.
    发明授权
    Flexible medical instrument 有权

    公开(公告)号：US12220194B2

    公开(公告)日：2025-02-11

    申请号：US18306827

    申请日：2023-04-25

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Samuel Kwok Wai Au

    IPC: A61B34/30 ,  A61B1/00 ,  A61B34/00 ,  A61B34/35 ,  A61B1/005 ,  A61B1/267 ,  A61M16/04

    Abstract: A medical system including a flexible instrument such as a lung catheter or bronchoscope provides a control mode in which direct manual control of insertion can be used with computer-assisted control of instrument characteristics such as the orientation or rigidity of a portion of the instrument. To facilitate manual insertion control, a mechanism can provide low inertia and friction for movement along an insertion axis. One implementation employs a manual grip of the instrument for control of insertion pressure, a joystick or other input device for computer-assisted steering, and a foot pedal for control of stiffness or compliance in the instrument. Another implementation employs a joystick for computer-assisted steering and for control of stiffness or compliance in the instrument.

    Flexible surgical devices
    24.
    发明授权
    Flexible surgical devices 有权

    公开(公告)号：US12016539B2

    公开(公告)日：2024-06-25

    申请号：US17841500

    申请日：2022-06-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Katherine D. Stoy ,  Samuel Kwok Wai Au ,  Carolyn M. Fenech ,  Giuseppe Maria Prisco

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

    CPC classification number: A61B17/00234 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00309 ,  A61B2017/00318 ,  A61B2017/00336

    Abstract: A method for operating a medical device includes measuring a configuration of a tube, receiving a desired configuration of the tube, determining an actuation input to bend the tube to the desired configuration, and transmitting the actuation input to at least one force transmission element that is actuatable to alter the tube between a flexible state and a stiffened state. Altering the tube from the flexible state to the stiffened state includes simultaneously applying first and second tension forces to first and second force transmission elements, respectively, to compress and shorten a length of the tube. The method further includes receiving a first command to place the tube in the flexible state, reducing longitudinal compression on the tube in response to the first command, receiving a second command to place the tube in the stiffened state, and longitudinally compressing the tube in response to the second command.

    SYSTEM WITH GUIDES AND TOOLS OF DIFFERENT FLEXIBILITY
    27.
    发明申请
    SYSTEM WITH GUIDES AND TOOLS OF DIFFERENT FLEXIBILITY 有权

    公开(公告)号：US20210228293A1

    公开(公告)日：2021-07-29

    申请号：US17165245

    申请日：2021-02-02

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Samuel Kwok Wai Au

    IPC: A61B34/32 ,  A61B10/02 ,  A61M25/01 ,  A61B34/30 ,  A61B34/20 ,  B25J9/16

    Abstract: A robotic medical system with a flexible guide tube such as a lung catheter can record the shape of the guide tube in a target configuration. If the shape includes a bend that is sharper than a sharpest permitted bend for insertion or removal of a tool such as a biopsy needle, a control system can find any locations of sharp bends and automatically retract the guide tube to a location associated with a sharp bend. With the tip backed up to that location, the needle can be inserted into or removed from the catheter. The control system can automatically move the catheter between the target configuration and the retracted configuration of the guide tube.

    Systems and methods for instrument insertion control
    28.
    发明授权
    Systems and methods for instrument insertion control 有权

    公开(公告)号：US11013567B2

    公开(公告)日：2021-05-25

    申请号：US16084449

    申请日：2017-02-16

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Melody Wu ,  Samuel Kwok Wai Au

    IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/98 ,  A61B34/20 ,  A61B90/00

    Abstract: Systems and methods for controlling an insertion force when inserting a medical instrument through a cannula component are provided. Such a system may include a manipulator and a control system in communication with the manipulator. The manipulator is configured to be operatively coupled to a medical instrument. The manipulator is adapted to move the medical instrument through the cannula component. The control system is operative to determine an insertion profile associated with at least one of the medical instrument and the cannula component. And the control system is configured to control an insertion force to affect motion of the medical instrument during manual insertion of the medical instrument through the cannula component.

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