公开(公告)号：US12155810B2

公开(公告)日：2024-11-26

申请号：US17254075

申请日：2019-06-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Derek C. Liou ,  Ian E. McDowall ,  Jonathan D. Halderman ,  Doris Lin ,  John A Barton ,  Bruce M. Schena ,  Kierstin Gray Parrish

IPC: H04N13/239 ,  A61B1/00 ,  A61B1/05 ,  A61B1/313 ,  H05K1/02 ,  H05K1/14

Abstract: An image capture unit has mounted in a frame: a first imaging assembly, a first circuit board, a second imaging assembly, and a second circuit board. The first imaging assembly is mounted on the first circuit board. The second imaging assembly is mounted on the second circuit board. A portion of the first circuit board and a portion of the second circuit board have a stacked configuration with the portion of the first circuit board being approximately parallel to the portion of the second circuit board. An end of another portion of the first circuit board is adjacent to an end of another portion of the second circuit board.

公开(公告)号：US12137935B2

公开(公告)日：2024-11-12

申请号：US17889987

申请日：2022-08-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Stephen J. Blumenkranz ,  Bruce M. Schena ,  Randal P. Goldberg

IPC: A61B17/34 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: Embodiments of a cannula seal are disclosed. In some embodiments, a cannula seal can include a base portion that engages with a cannula; and a seal portion integrally formed with the base portion that slidebly engages with an instrument shaft such that an insertion frictional force between the seal portion and the instrument shaft for insertion of the instrument shaft is symmetrical and substantially equal with a retraction frictional force.

公开(公告)号：US11678945B2

公开(公告)日：2023-06-20

申请号：US17531956

申请日：2021-11-22

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

CPC classification number: A61B34/35 ,  A61B17/3476 ,  A61B34/30 ,  A61B46/10 ,  A61B17/34 ,  A61B2017/00477 ,  A61B2017/00862 ,  A61B2017/00876 ,  A61B2090/0808

Abstract: A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.

公开(公告)号：US11534251B2

公开(公告)日：2022-12-27

申请号：US16667523

申请日：2019-10-29

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US11185380B2

公开(公告)日：2021-11-30

申请号：US15568356

申请日：2016-04-21

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US10905507B2

公开(公告)日：2021-02-02

申请号：US16925030

申请日：2020-07-09

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

Abstract: A system includes 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, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.

公开(公告)号：US10779711B2

公开(公告)日：2020-09-22

申请号：US15912566

申请日：2018-03-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Bruce M. Schena

IPC: A61B34/00 ,  A61B1/04 ,  A61B34/30 ,  A61B34/37 ,  B25J17/02 ,  B25J18/00 ,  A61B1/00 ,  A61B90/00

Abstract: A robotic arm including a parallel spherical five-bar linkage with a remote center of spherical rotation. The robotic arm movably supports an endoscopic camera. Two outboard links are pivotally coupled together. At least one of the two outboard links supports the endoscopic camera. Two inboard links are respectively pivotally coupled to the two outboard links such that the two inboard links are able to cross over one another. The two inboard links moveably support the two outboard links. A ground link is pivotally coupled to the two inboard links. The ground link moveably supports the two inboard links.

公开(公告)号：US10743953B2

公开(公告)日：2020-08-18

申请号：US16194149

申请日：2018-11-16

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

Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.

公开(公告)号：US10682191B2

公开(公告)日：2020-06-16

申请号：US15927978

申请日：2018-03-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Paul W. Mohr ,  Pushkar Hingwe ,  Paul Millman ,  Bruce M. Schena ,  Roman L. Devengenzo ,  Scott Luke

IPC: A61B34/37 ,  B25J18/00 ,  B25J9/16 ,  A61B34/30 ,  A61B34/00 ,  A61B1/00

Abstract: Devices, systems, and methods for reconfiguring a surgical manipulator by moving the manipulator within a null-space of a kinematic Jacobian of the manipulator arm. In one aspect, in response to receiving a reconfiguration command, the system drives a first set of joints and calculates velocities of the plurality of joints to be within a null-space. The joints are driven according to the reconfiguration command and the calculated movement so as to maintain a desired state of the end effector or a remote center about which an instrument shaft pivots. In another aspect, the joints are also driven according to a calculated end effector or remote center displacing velocities within a null-perpendicular-space of the Jacobian so as to effect the desired reconfiguration concurrently with a desired movement of the end effector or remote center.

公开(公告)号：US10441372B2

公开(公告)日：2019-10-15

申请号：US15126734

申请日：2015-03-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Roman L. Devengenzo ,  Alan W. Petersen ,  Bruce M. Schena

IPC: A61B34/35 ,  A61B34/30 ,  H01R13/6582 ,  H01R33/00 ,  A61B17/00

Abstract: A surgical instrument support arm of a teleoperated patient side cart may include a first arm portion including a first connector end and a second a second arm portion including a second connector end. The second arm portion may be removably connectable to the first arm portion via mating engagement of the first and second connector ends. The first and second connector ends may each include complementary mechanical connections and complementary electrical connections. At least one of the electrical connections of the first and second connector ends may include electrical shielding to protect against electrical interference in a position in which the electrical connections are matingly engaged. The electrical shielding may be configured to axially compress when the electrical connections of the first and second connector ends are matingly engaged.