公开(公告)号：US20130197541A1

公开(公告)日：2013-08-01

申请号：US13748442

申请日：2013-01-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce M. Schena

IPC: A61B19/00

CPC classification number: A61B90/10 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/72 ,  A61B90/361 ,  A61B2017/306 ,  A61B2034/305 ,  A61B2090/371

Abstract: Medical devices robotically manipulated by a medical robotic system for performing a medical procedure on a patient are bundled together as a bundled unit and inserted into the patient through a single entry port. Bracing of the bundled unit at a surgical site is performed by extending a suction surface disposed at a distal end of the bundled unit towards a bracing surface at the surgical site and applying a suction force between the suction surface and the bracing surface. The suction surface is ring-shaped with holes distributed about the ring so that controllably extendable and retractable tubes coupled at distal ends to the holes provide suction to the suction surface when coupled at proximal ends to a vacuum source.

Abstract translation: 由用于对患者执行医疗程序的医疗机器人系统机器人操作的医疗设备作为捆绑单元捆绑在一起，并通过单个入口插入患者体内。 通过将设置在捆扎单元的远端的吸入表面延伸到外科手术部位的支撑表面并在吸力表面和支撑表面之间施加吸力来执行手术部位处的捆扎单元的支撑。 抽吸表面是环形的，孔围绕环分布，使得在远端处连接到孔处的可控制地伸缩的管在近端处耦合到真空源时为抽吸表面提供抽吸。

公开(公告)号：US12295691B2

公开(公告)日：2025-05-13

申请号：US17507937

申请日：2021-10-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William A. Burbank ,  Gregory W. Dachs, II ,  Bruce M. Schena

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  B25J9/10

Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.

公开(公告)号：US20250057527A1

公开(公告)日：2025-02-20

申请号：US18808518

申请日：2024-08-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Bruce M. Schena

IPC: A61B17/06 ,  A61B17/00

Abstract: Implementations of suturing needles, suturing devices, and related methods are provided. An illustrative suturing needle includes a needle body having a leading end and a trailing end. The needle body includes an outer tubular body having a proximal end and a distal end configured to pierce tissue, and at least one at least one elongate inner body made of superelastic material disposed within and operably coupled to the outer tubular body. The outer tubular body deforms from a first configuration into a second configuration in response to the application of force by the at least one elongate inner body on the outer tubular body.

公开(公告)号：US12171517B2

公开(公告)日：2024-12-24

申请号：US18320357

申请日：2023-05-19

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: B25J19/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  B25J19/02 ,  B25J19/04

Abstract: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.

公开(公告)号：US12029513B2

公开(公告)日：2024-07-09

申请号：US17379379

申请日：2021-07-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/77 ,  A61B90/37 ,  B25J3/00 ,  B25J9/1682 ,  B25J9/1689 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/305 ,  A61B2090/065 ,  A61B90/361 ,  G05B2219/39135 ,  G05B2219/39212 ,  G05B2219/39322 ,  G05B2219/40184 ,  G05B2219/45117

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector in space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and methods for their use are also provided.

公开(公告)号：US11919154B2

公开(公告)日：2024-03-05

申请号：US17140420

申请日：2021-01-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Robinson ,  Matthew R. Cavalier ,  Gregory W. Dachs ,  Michael Hanuschik ,  Jason Jiang ,  Paul W. Mohr ,  Bruce M. Schena ,  Mark W. Zimmer

IPC: B62B5/04 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35 ,  A61B50/13 ,  B25J5/00 ,  B25J19/00 ,  A61B17/00 ,  A61B90/00

CPC classification number: B25J19/0091 ,  A61B34/30 ,  A61B34/35 ,  A61B34/70 ,  A61B50/13 ,  B25J5/007 ,  A61B2017/00539 ,  A61B2090/064 ,  B62B5/049

Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.

公开(公告)号：US11382493B2

公开(公告)日：2022-07-12

申请号：US16813235

申请日：2020-03-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bruce M. Schena

IPC: A61B1/00 ,  H01R13/631 ,  A61B18/00 ,  A61B34/00 ,  H01R13/629 ,  A61B34/20 ,  A61B34/35 ,  A61B1/05 ,  A61B34/30 ,  A61B17/00

Abstract: An instrument connector comprises a housing, a first connector, and a second connector. The housing includes a proximal face at a proximal end of the instrument connector, and the proximal face is coincident with a reference plane. The first connector extends proximally away from the proximal face and includes a rod and a first interface for a first transmission channel. The rod is configured to mate with a first socket of a console connector. The second connector is recessed within the housing, includes a second interface for a second transmission channel, and is configured to mate with a second socket of the console connector. The proximal end of the second connector is distal to the reference plane. The rod is configured to engage with the first socket to at least partially align the second connector with the second socket before the second connector engages with the second socket.

公开(公告)号：US20210113284A1

公开(公告)日：2021-04-22

申请号：US17133877

申请日：2020-12-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B90/00

Abstract: Inter-operative switching of tools in a robotic system includes a system with a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, the first imaging device having a first reference frame; in response to detecting the mounting of the first imaging device, control a tool relative to the first reference frame using a second manipulator of the plurality of manipulators, the tool being mounted to the second manipulator; detect mounting of a second imaging device to a third manipulator of the plurality of manipulators, the second imaging device having a second reference frame; and in response to detecting the mounting of the second imaging device, control the tool relative to the second reference frame using the second manipulator.

公开(公告)号：US10456208B2

公开(公告)日：2019-10-29

申请号：US15126725

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Allen C. Thompson ,  Randal P. Goldberg ,  Dean F. Hoornaert ,  Tyler J. Morrissette ,  Bruce M. Schena

IPC: A61B34/35 ,  A61B34/30 ,  A61B46/10 ,  A61B17/34 ,  A61B17/00 ,  A61B90/00

Abstract: A cannula mount for a surgical system may include a body having an aperture to receive a portion of a cannula. The cannula mount may further include a pivotable clamping arm to engage the portion of the cannula received in the aperture. The clamping arm may include a cam follower surface. The cannula mount may further include a block moveable between a first position and a second position. The block may include a cam surface. The cam surface of the block may engage the cam follower surface of the clamping arm in the first position to actuate the clamping arm to a closed position in which the clamping arm engages the portion of the cannula received in the aperture. The clamping arm may be permitted to move to an open position in which the clamping arm does not engage the cannula when the block is in the second position.

公开(公告)号：US10251717B2

公开(公告)日：2019-04-09

申请号：US14814851

申请日：2015-07-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Bruce M. Schena ,  David W. Robinson

IPC: A61B34/37 ,  B25J19/00 ,  B25J17/02

Abstract: A surgical system includes methods and systems for damping vibrations. The damping of these vibrations can increase the precision of surgery performed using the surgical system. The surgical system can include one or several moveable set-up linkages. A damper can be connected with one or several of the set-up linkages. The damper can be a passive damper and can mitigate a vibration arising in one or more of the set-up linkages. The damper can additionally prevent a vibration arising in one of the linkages from affecting another of the set-up linkages.