公开(公告)号：US20240238000A1

公开(公告)日：2024-07-18

申请号：US18558632

申请日：2022-05-03

申请人： Covidien LP

发明人： Dylan R. Kingsley ,  Christopher T. Tschudy ,  Alok Agrawal ,  Jessica B. Thayer ,  Brock Kopp

IPC分类号： A61B17/295 ,  A61B17/00 ,  A61B18/00 ,  A61B34/30 ,  A61B90/00

CPC分类号： A61B17/295 ,  A61B34/30 ,  A61B2017/00725 ,  A61B2018/0063 ,  A61B2090/066

摘要： A method of determining the distal throw of a knife blade of a robotic surgical instrument includes selectively engaging an end effector onto a housing of a robotic surgical instrument homing a knife blade. The method further includes initiating an end stop detection algorithm including: actuating a knife drive coupler to advance the knife blade distally through a knife channel defined within the end effector; calculating the running torque average of the knife drive coupler as the knife blade translates through the knife channel; determining a spike above the running torque average within a predetermined threshold and recording the position of the knife blade as a maximum distal throw of the knife blade; retracting the knife blade to determine an offset position from the maximum distal throw of the knife blade; and recording the offset position of the knife blade for subsequent usage.

公开(公告)号：US20230125165A1

公开(公告)日：2023-04-27

申请号：US18083760

申请日：2022-12-19

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B34/30 ,  A61B17/072

摘要： An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.

公开(公告)号：US20200330173A1

公开(公告)日：2020-10-22

申请号：US16960599

申请日：2019-01-07

申请人： Covidien LP

发明人： Jaimeen Kapadia ,  Brock Kopp ,  Mark MacLeod ,  Chi Min Seow ,  Michael Zemlok

IPC分类号： A61B34/35 ,  A61B46/10 ,  A61B90/00 ,  A61B90/96 ,  A61B17/28 ,  A61B17/068

摘要： The sterile interface module includes a body member for coupling a surgical instrument to a robotic surgical assembly, a decoupling collar supported on the body member and movable relative to the body member from a first position to a second position, and a drive transfer assembly supported by the body member. The drive transfer assembly includes a drive coupler and a transfer shaft extending from the drive coupler. The drive coupler engages the robotic surgical assembly and the transfer shaft engages the surgical instrument. The drive coupler engages the robotic surgical assembly while the decoupling collar is in the first position to enable the robotic surgical assembly to robotically control the surgical instrument. The drive coupler is retracted within the body member while the decoupling collar is in the second position to prevent the drive coupler from engaging the robotic surgical assembly.

公开(公告)号：US10653489B2

公开(公告)日：2020-05-19

申请号：US15572802

申请日：2016-05-10

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B34/35 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

摘要： A surgical system for selective connection to a robotic arm includes an instrument drive unit and a surgical instrument detachably coupled to the instrument drive unit. The instrument drive unit includes a first actuator, a linkage member having opposing first and second portions, and a drive member. The first portion of the linkage member is operatively coupled to the first actuator such that actuation of the first actuator moves the first portion in a first direction and the second portion in a second direction opposite of the first direction. The drive member is operatively coupled to the second portion of the linkage member. The surgical instrument includes a driven member operatively associated with the drive member of the instrument drive unit and an end effector operatively coupled with the driven member, wherein translation of the driven member effects a first function of the end effector.

公开(公告)号：US20180250080A1

公开(公告)日：2018-09-06

申请号：US15758986

申请日：2016-09-21

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B34/30 ,  A61B17/072

摘要： An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.

公开(公告)号：US20180168747A1

公开(公告)日：2018-06-21

申请号：US15579308

申请日：2016-06-15

申请人： Covidien LP

发明人： Brock Kopp ,  Philip Irka ,  Mark MacLeod

IPC分类号： A61B34/30 ,  H02K11/24 ,  A61B34/00 ,  H02P29/02

CPC分类号： A61B34/30 ,  A61B34/76 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00128 ,  A61B2090/066 ,  G01L25/003 ,  G01R31/343 ,  H02K11/20 ,  H02K11/24 ,  H02K11/27 ,  H02P29/02

摘要： A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

公开(公告)号：US12048499B2

公开(公告)日：2024-07-30

申请号：US18129930

申请日：2023-04-03

申请人： Covidien LP

发明人： Brock Kopp ,  Philip J. Irka ,  Mark H. MacLeod

IPC分类号： G01B3/48 ,  A61B34/00 ,  A61B34/30 ,  G01L25/00 ,  G01R31/34 ,  H02K11/20 ,  H02K11/24 ,  H02P29/02 ,  A61B17/00 ,  A61B90/00 ,  H02K11/27

CPC分类号： A61B34/30 ,  A61B34/76 ,  G01L25/003 ,  G01R31/343 ,  H02K11/20 ,  H02K11/24 ,  H02P29/02 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00128 ,  A61B2090/066 ,  H02K11/27

摘要： A method of verifying torque measurements of a reaction torque transducer of an instrument drive unit includes a controller receiving a verification signal, generating an acceptable range of torques, receiving a torque signal, comparing the torque signal to the acceptable range of torques, and stopping a motor if the torque applied by the motor is outside of the acceptable range of torques. The verification signal is indicative of the current drawn by the motor and the torque signal is indicative of torque applied by the motor.

公开(公告)号：US11045174B2

公开(公告)日：2021-06-29

申请号：US15758934

申请日：2016-09-13

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B17/00 ,  A61B5/11 ,  A61B34/30 ,  A61B5/00 ,  A61B90/00 ,  A61B34/20

摘要： A motion sensor for detecting the movement of a patient is provided and includes a housing, a spring loaded return mechanism supported in the housing, an encoder, and a sensor. The spring loaded return mechanism includes a spool rotatably supported within the housing, a biasing member coupled to the housing and the spool, and a cord supported on the spool. The encoder is located on the spool and is configured to monitor a length of cord extended from the housing. The sensor is configured to communicate a signal when the cord is extended beyond a predetermined or preset length.

公开(公告)号：US20210128257A1

公开(公告)日：2021-05-06

申请号：US17145937

申请日：2021-01-11

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B34/30 ,  A61B17/295 ,  A61B18/14

摘要： An actuation mechanism for actuating an electromechanical end effector includes a housing, and a shaft assembly extending distally from the housing. The shaft assembly includes a shaft, a longitudinal knife bar, a first hub, and a second hub. The shaft is axially movable relative to the housing and configured to be coupled to the electromechanical end effector. Rotation of a first screw of the housing moves the first hub to effect longitudinal movement of the shaft. The longitudinal knife bar is axially movable relative to the shaft and configured to be coupled to a knife blade of the electromechanical end effector. Rotation of a second screw of the housing moves the second hub to effect axial movement of the longitudinal knife bar.

公开(公告)号：US20210000469A1

公开(公告)日：2021-01-07

申请号：US17024925

申请日：2020-09-18

申请人： Covidien LP

发明人： Brock Kopp

IPC分类号： A61B17/072 ,  A61B17/00

摘要： An instrument drive connector includes a housing assembly, an elongated shaft extending distally from the housing assembly, and a first drive assembly at least partially disposed within the housing assembly and the elongated shaft. The first drive assembly includes a first drive screw, a first input drive coupler non-rotatably coupled to a proximal end of the first drive screw, a first drive nut threadedly engaged with a threaded body portion of the first drive screw and longitudinally movable relative thereto in response to rotation of the first drive screw, and a locking link. The locking link includes an elongated body having a proximal end portion coupled to the first drive nut and longitudinally movable relative thereto between a proximal non-locking position and a distal locking position, and a distal end portion including a switch actuation assembly including a switch actuating arm biased towards the distal locking position.