公开(公告)号：US12251088B2

公开(公告)日：2025-03-18

申请号：US17869045

申请日：2022-07-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhou Ye ,  Harsukhdeep Ratia ,  Alain Sadaka

IPC: A61B17/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

公开(公告)号：US12082900B2

公开(公告)日：2024-09-10

申请号：US16971984

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep Ratia ,  Alain Sadaka ,  Zhou Ye

IPC: A61B34/00 ,  A61B34/35 ,  B25J9/02 ,  B25J15/02 ,  A61B34/30

CPC classification number: A61B34/71 ,  A61B34/35 ,  A61B34/74 ,  B25J9/02 ,  B25J15/022 ,  A61B2034/302 ,  A61B2034/305

Abstract: Systems and methods of assembling a wrist assembly are provided. The wrist assembly includes a tension member, a first link, and a second link. The second link includes an assembly path, a guide path, and a retention pocket. A first end portion of the tension member is inserted through the assembly path within the second link. The tension member is configured to be rotated to transition the first tension member portion from the assembly path to be within the guide path. The retention member is retained within the retention pocket on a condition that the first tension member portion is rotated to be within the guide path such that movement of the tension member relative to the second link is limited. Movement of the first tension member portion within the second guide path urges the second link to rotate relative to the first link.

公开(公告)号：US11439376B2

公开(公告)日：2022-09-13

申请号：US16971982

申请日：2019-03-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Harsukhdeep Ratia ,  Alain Sadaka ,  Zhou Ye

IPC: A61B17/00 ,  A61B34/35 ,  A61B34/30 ,  A61B34/00 ,  A61B17/29 ,  A61B17/32 ,  A61B18/00

Abstract: A low-friction medical device includes a first link, a second link, and a tension member. The first link is coupled to an instrument shaft and a first guide path is defined in the first link. The second link is rotatable relative to the first link through an angular range. A distal end portion of the second link is rotatably coupled to a tool member. A curved guide path is defined within the second link between the tool member and the first guide path. A curved guide surface of the second link defines a portion of the second guide path. A first portion of the tension member is parallel to a centerline of the first guide path, and a second portion is coupled to the tool member. A third portion of the tension member between the first and second portions is in contact with the curved guide surface throughout a portion of the angular range.

公开(公告)号：US12239393B2

公开(公告)日：2025-03-04

申请号：US17322276

申请日：2021-05-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhou Ye ,  Harsukhdeep Ratia ,  Ashwinram Suresh ,  Craig Tsuji

IPC: A61B34/30 ,  A61B34/00 ,  A61B90/00 ,  B25J19/06 ,  A61B17/29

Abstract: A medical device includes a shaft, a beam, a hard stop structure, and a link. A proximal end portion of the beam is coupled to the distal end portion of the shaft and a distal end portion of the beam is coupled to the link. A strain sensor is on the beam. A hard stop structure includes a proximal end portion, a distal end portion, and first opposing stop surfaces. The proximal end portion of the hard stop structure is coupled to a distal end portion of the shaft, and the distal end portion of the hard stop structure is coupled to the link. The first opposing stop surfaces are positioned to limit a lateral range of motion of the distal end of the beam with reference to the proximal end of the beam in a first direction by the first stop surfaces contacting one another.