公开(公告)号：US20160045271A1

公开(公告)日：2016-02-18

申请号：US14824217

申请日：2015-08-12

申请人： Intuitive Surgical Operations, Inc.

发明人： ANTHONY K. MCGROGAN ,  THOMAS G. COOPER ,  KENT M. ANDERSON ,  JEFFREY D. BROWN

IPC分类号： A61B19/00 ,  B25J15/00

CPC分类号： B25J15/0028 ,  A61B19/22 ,  A61B19/2203 ,  A61B34/30 ,  A61B34/70 ,  A61B90/50 ,  A61B90/90 ,  A61B2017/3445 ,  A61B2019/2211 ,  A61B2019/2234 ,  A61B2034/301 ,  A61B2034/305 ,  Y10S901/36 ,  Y10S901/38 ,  Y10S901/39

摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.

摘要翻译： 手术系统在各种手术中使用单个入口。 为了通过单个进入口将多个外科器械插入患者，要求至少一个外科器械的轴在外科器械的基座和轴接触进入引导件的通道的点之间弯曲。 每个手术器械通过仪器操纵器定位系统定位，使得当轴插入进入引导件的通道中时，轴的任何弯曲不会损伤外科器械，并且不会妨碍手术器械的正常操作。

公开(公告)号：US20160184036A1

公开(公告)日：2016-06-30

申请号：US14911523

申请日：2014-08-13

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： TODD R. SOLOMON ,  ANTHONY K. MCGROGAN ,  THOMAS G. COOPER

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2017/00477 ,  A61B2034/302

摘要： A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

摘要翻译： 手术系统（200）包括外科器械（260），所述手术器械（260）对将会对外科器械的受控扭矩和位置的传递产生不利影响的间隙敏感。 外科器械（260）经由机械界面与外科器械操纵器组件（240）中的马达相耦合。 机械界面和手术器械操纵器组件（240）的组合具有低的间隙，例如小于0.7度。 在外科器械操纵器组件（240）中控制齿隙。 从外科器械操纵器组件中的驱动输出盘（545）到手术器械的从动盘（964），机械界面对于在外科手术中使用的扭矩水平具有零间隙。