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公开(公告)号：US09907458B2
公开(公告)日：2018-03-06
申请号：US13915564
申请日：2013-06-11
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Bruce M. Schena
CPC classification number: A61B1/04 , A61B1/00149 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , B25J17/0258 , B25J18/007 , Y10T74/20305
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.
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公开(公告)号：US20170296277A1
公开(公告)日：2017-10-19
申请号：US15640045
申请日：2017-06-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Arjang M. Hourtash , Pushkar Hingwe , Bruce M. Schena , Roman L. Devengenzo
CPC classification number: A61B34/30 , A61B34/37 , A61B2034/305 , B25J9/1607 , B25J9/1676 , G05B2219/39135 , G05B2219/40202 , G05B2219/40371 , G05B2219/40471 , G05B2219/40492 , G05B2219/45117
Abstract: Devices, systems, and methods for avoiding collisions between a manipulator arm and an outer patient surface by moving the manipulator within a null-space. In response to a determination that distance between an avoidance geometry and obstacle surface, corresponding to a manipulator-to-patient distance is less than desired, the system calculates movement of one or more joints or links of the manipulator within a null-space of the Jacobian to increase this distance. The joints are driven according to the reconfiguration command and calculated movement so as to maintain a desired state of the end effector. In one aspect, the joints are also driven according to a calculated end effector displacing movement within a null-perpendicular-space of the Jacobian to effect a desired movement of the end effector or remote center while concurrently avoiding arm-to-patient collisions by moving the joints within the null-space.
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公开(公告)号：US09782230B2
公开(公告)日：2017-10-10
申请号：US15298130
申请日：2016-10-19
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
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64.发明授权Software center and highly configurable robotic systems for surgery and other uses 有权软件中心和高度可配置的机器人系统用于手术和其他用途公开(公告)号：US09554859B2
公开(公告)日：2017-01-31
申请号：US14462507
申请日：2014-08-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： William C. Nowlin , Paul W. Mohr , Bruce M. Schena , David Q. Larkin , Gary S. Guthart
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , 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 n 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 method for their use are also provided.
Abstract translation: 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。
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公开(公告)号：US20160030118A1
公开(公告)日：2016-02-04
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: A61B19/00
CPC classification number: A61B34/37 , B25J17/0208 , B25J19/0091
Abstract: Methods and systems for damping vibrations in a surgical system are disclosed herein. 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.
Abstract translation: 本文公开了用于减轻手术系统中的振动的方法和系统。 这些振动的阻尼可以提高使用手术系统进行手术的精度。 手术系统可以包括一个或多个可移动的设置连接。 阻尼器可以与一个或多个安装连杆连接。 阻尼器可以是被动阻尼器并且可以减轻在一个或多个设置连杆中产生的振动。 阻尼器还可以防止在其中一个连杆中产生的振动影响另一个安装连杆。
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Patent Agency Ranking
公开(公告)号：US20230363840A1
公开(公告)日：2023-11-16
申请号：US18318370
申请日：2023-05-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Allen C. Thompson , Randal P. Goldberg , Dean F. Hoornaert , Tyler J. Morrissette , Bruce M. Schena
CPC classification number: A61B34/35 , A61B34/30 , A61B46/10 , A61B17/3476 , A61B2017/00477
Abstract: A cannula mount for a surgical system includes a body configured to receive a portion of a cannula in a mounted state at the cannula mount; a pair of clamping components coupled to the body and configured to clamp the portion of the cannula in the mounted state of the cannula; and a latch assembly pivotably coupled to the body and slidably coupled to a clamping component of the pair of clamping components. At least one of the pair of clamping components is pivotable relative to the body to move the pair of clamping components between a first state to unclamp a cannula mounted at the cannula mount and a second state to clamp a cannula mounted at the cannula mount. Pivoting motion of the latch assembly relative to the body causes a portion of the latch assembly to slide along the clamping component and change a state of the pair of clamping components from an unlocked state to a locked state in the second state of the pair of clamping components.
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公开(公告)号：US20230044844A1
公开(公告)日：2023-02-09
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
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.
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公开(公告)号：US11452545B2
公开(公告)日：2022-09-27
申请号：US16407158
申请日：2019-05-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Stephen J. Blumenkranz , Bruce M. Schena , Randal P. Goldberg
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.
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公开(公告)号：US20210346107A1
公开(公告)日：2021-11-11
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
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.
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公开(公告)号：US20210266517A1
公开(公告)日：2021-08-26
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 , H05K1/14 , H05K1/02 , A61B1/313 , A61B1/00
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.
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