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    System and method for reducing blade exposures
    2.
    发明授权
    System and method for reducing blade exposures 有权

    公开(公告)号：US10743897B2

    公开(公告)日：2020-08-18

    申请号：US15573031

    申请日：2016-05-13

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Julie L. Berry ,  Melissa D. Lippiatt ,  Daniel P. Saraliev ,  Melody Wu

    IPC: A61B17/285 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B17/32 ,  A61B90/00 ,  A61B17/00

    Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.

    SYSTEMS AND METHODS FOR GRASP ADJUSTMENT BASED ON GRASP PROPERTIES
    3.
    发明申请
    SYSTEMS AND METHODS FOR GRASP ADJUSTMENT BASED ON GRASP PROPERTIES 审中-公开

    公开(公告)号：US20190298398A1

    公开(公告)日：2019-10-03

    申请号：US16366854

    申请日：2019-03-27

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Ashley Lynne Wellman ,  David W. Weir ,  Matthew A. Wixey

    IPC: A61B17/28 ,  A61B17/22 ,  A61B34/00 ,  A61B34/35

    Abstract: Systems and methods for grasp adjustment based on grasp properties include a computer-assisted device. The device includes a two-jawed end effector located at a distal end of the device, a drive unit for operating the two-jawed end effector, and an image processing unit. The image processing unit is configured to receive imaging data of the end effector and recognize the end effector and a material grasped by the end effector in the received imaging data. The device is configured to adjust a force magnitude limit or a torque magnitude limit of the drive unit based on the received imaging data. In some embodiments, the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data. In some embodiments, at least one jaw of the end effector includes fiducial indicia.

    Motor Assembly
    4.
    发明申请
    Motor Assembly 审中-公开

    公开(公告)号：US20190222099A1

    公开(公告)日：2019-07-18

    申请号：US16361095

    申请日：2019-03-21

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David W. Weir ,  Melody Wu ,  Kevin Durant ,  Grant Duque

    IPC: H02K11/00 ,  A61B34/30

    CPC classification number: H02K11/0094 ,  A61B18/1445 ,  A61B34/30 ,  A61B2017/00725 ,  A61B2018/1455 ,  A61B2090/031 ,  G05B2219/2617 ,  G05B2219/45117 ,  G05B2219/45119

    Abstract: A motor assembly and method of operating the motor assembly include a motor, a memory to store calibrated parameters of the motor, and electronics coupled to the memory and the motor. The electronics are configured to retrieve the calibrated parameters from the memory, provide the calibrated parameters to an external system, and receive control signals for driving the motor from the external system. The control signals are based on the calibrated parameters. The calibrated parameters include a motor speed versus no-load current relationship for the motor determined by a procedure that includes performing an initial calibration of the motor, wearing in the motor after performing the initial calibration, performing a final calibration of the motor after wearing in the motor, and storing the calibrated parameters in the memory based on the initial calibration and the final calibration.

    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION
    6.
    发明申请
    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION 审中-公开

    公开(公告)号：US20180161112A1

    公开(公告)日：2018-06-14

    申请号：US15573096

    申请日：2016-05-13

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： David W. Weir ,  Michael Waldo ,  Melody Wu

    IPC: A61B34/30 ,  A61B18/14

    CPC classification number: A61B34/30 ,  A61B18/1442 ,  A61B18/1445 ,  A61B34/00 ,  A61B2017/003 ,  A61B2018/1455 ,  A61B2090/064 ,  A61B2090/066

    Abstract: A system and method of operating a minimally invasive cutting instrument includes a surgical cutting instrument. The surgical cutting instrument includes a drive unit, an end effector located at a distal end of the instrument, and a garage for housing the cutting blade when the cutting blade is not in use. The end effector includes gripping jaws and a cutting blade. To perform a cutting operation, the instrument extends the cutting blade from a first position to a second position, retracts the cutting blade from the second position to a third position between the first and second positions, and further retracts the cutting blade to the first position. While the cutting blade is not in use, the cutting blade is maintained in the first position using a restraining mechanism in the drive unit, force or torque applied by a motor or other active actuator to the drive unit, or both.

    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING
    7.
    发明申请
    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING 审中-公开

    公开(公告)号：US20180098766A1

    公开(公告)日：2018-04-12

    申请号：US15836506

    申请日：2017-12-08

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. Weir ,  Kevin Durant ,  Patrick Flanagan ,  David W. Robinson

    IPC: A61B17/068 ,  A61B17/072 ,  A61B17/115 ,  A61B17/00

    Abstract: Systems and methods for controlling staple firing include an end effector including a first jaw and a second jaw holding staples, a drive system configured to apply a force or torque to cause staple firing to occur, and a processor. The processor is configured to monitor the applied force or torque and control application of the force or torque by the drive system based on a comparison of the applied force or torque to an acceptable range of force or torque. In some embodiments, the processor is further configured to determine one or more of a position of the first jaw and the second jaw or a displacement of the drive system and control application of the force or torque by the drive system based on one or more of the position of the first jaw and the second jaw or the displacement of the drive system.

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