公开(公告)号：US09999472B2

公开(公告)日：2018-06-19

申请号：US15364114

申请日：2016-11-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC: A61B34/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  A61B90/00 ,  A61B34/37 ,  A61B17/29 ,  G06F3/14 ,  A61B34/30 ,  G06F3/01 ,  G06F3/16

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

Abstract: End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US10213202B2

公开(公告)日：2019-02-26

申请号：US15194771

申请日：2016-06-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Patrick Flanagan ,  David Weir

IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

Abstract: A method of controlling a surgical stapler system includes transmitting an actuation force to a staple cartridge to actuate a staple firing procedure, the staple cartridge being removably received by a portion of an end effector of a surgical instrument, measuring the transmitted actuation force, and controlling continued transmission of the actuation force based on a comparison of the measured actuation force to a range defined from a minimum threshold actuation force to a maximum threshold actuation force.

公开(公告)号：US09877718B2

公开(公告)日：2018-01-30

申请号：US14949827

申请日：2015-11-23

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B17/072 ,  A61B17/068 ,  A61B17/115 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115 ,  A61B2017/00115 ,  A61B2017/00398 ,  A61B2017/07214 ,  A61B2090/064 ,  A61B2090/0811

Abstract: Systems and methods are provided for detecting failure in clamping of a material and/or firing of a staple into a clamped material and indicating such failure to a user on a user interface. The system and methods are particularly suited for use with end effectors having closing and/or firing mechanisms coupled to an actuator. By monitoring a driving parameter of an actuator that effects the clamping and/or firing, the systems and methods provide an indication of failure in response to the monitored drive parameter. In some embodiments, an indication of failure is output when the monitored drive parameter is outside an acceptable range of desired driving parameters during clamping and/or firing. The disclosed systems and methods are particularly beneficial when used for minimally invasive surgery.

公开(公告)号：US09814530B2

公开(公告)日：2017-11-14

申请号：US14635908

申请日：2015-05-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC: G05B19/425 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

Abstract: End effectors with closing mechanisms, and related tools and methods are disclosed. The disclosed end effectors may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

公开(公告)号：US09662177B2

公开(公告)日：2017-05-30

申请号：US14635866

申请日：2015-03-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David Weir ,  Grant Duque ,  Kevin Durant ,  Patrick Flanagan ,  Margaret M. Nixon ,  David Robinson ,  John Zabinski

IPC: G06F19/00 ,  A61B19/00 ,  A61B17/072 ,  A61B17/28 ,  B25J9/16 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/25 ,  A61B17/00 ,  A61B17/07207 ,  A61B17/28 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  B25J9/1694 ,  G06F3/016 ,  G06F3/14 ,  G06F3/16

Abstract: End effectors with closing mechanisms, and related tools and methods may be particularly beneficial when used for minimally invasive surgery. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaws, measuring the separation parameter between the jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.