公开(公告)号：US20240041456A1

公开(公告)日：2024-02-08

申请号：US18488496

申请日：2023-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B17/072 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30

CPC classification number: A61B17/07207 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30 ,  A61B2017/00039

Abstract: Surgical systems and related methods for detecting whether a surgical instrument lacks a surgical cartridge in an unfired condition. A method of detecting that a surgical instrument lacks a surgical cartridge in an unfired condition mounted to the surgical instrument includes commanding a movement of the actuation output in a direction opposite to a firing direction for the surgical cartridge, detecting that an actuation amount of the actuation output as a result of the commanded movement is at or above a threshold actuation amount, and in response to detecting that the actuation amount of the actuation output is at or above the threshold actuation amount, determining that the surgical instrument lacks a surgical cartridge in the unfired condition mounted to the surgical instrument.

公开(公告)号：US11812921B2

公开(公告)日：2023-11-14

申请号：US17066110

申请日：2020-10-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B17/072 ,  A61B34/37 ,  A61B50/13 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B34/30 ,  A61B34/37 ,  A61B50/13 ,  A61B2017/00039 ,  A61B2017/00398 ,  A61B2017/00477 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2090/0804 ,  A61B2090/0808

Abstract: Surgical systems configured to determine whether a surgical cartridge is present and unfired. A surgical system includes a surgical instrument, a drive source, a sensor and a controller. The surgical instrument is configured to receive and support a surgical cartridge. The drive source is drivingly coupled with an actuation output. The sensor is configured to generate a sensor output indicative of movement of the actuation output. The controller controls the drive source to attempt to actuate the actuation output opposite to the firing direction by a predetermined amount. The controller determines that the surgical cartridge is present and unfired when the resulting actuation amount of the actuation output is less than a threshold actuation amount.

公开(公告)号：US10828030B2

公开(公告)日：2020-11-10

申请号：US13662385

申请日：2012-10-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David W. Weir ,  Kevin Durant ,  William Burbank ,  Patrick Flanagan

IPC: A61B34/37 ,  A61B17/072 ,  A61B50/13 ,  A61B34/30 ,  A61B17/00 ,  A61B90/00

Abstract: Surgical systems and related methods verify the presence of an unfired surgical cartridge mounted to a surgical instrument. The cartridge includes an input that is actuated in a firing direction to operate the cartridge. An actuation input that is limited to less than or equal to a predetermined magnitude is generated. The actuation input includes at least one of a torque or a force. The actuation input is transferred to an output of a surgical instrument to attempt to actuate the output opposite to the firing direction by a predetermined amount. The output is drivingly coupled with the cartridge input when the cartridge is mounted to the surgical instrument. The resulting actuation of the output is measured and compared with a threshold actuation amount. A determination is made that the cartridge is present and unfired when the resulting actuation of the output is less than the threshold actuation amount.

公开(公告)号：US10327773B2

公开(公告)日：2019-06-25

申请号：US15349902

申请日：2016-11-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/90 ,  A61B90/92 ,  A61B90/98 ,  A61B90/00 ,  A61B17/00 ,  A61B17/29 ,  A61B18/14 ,  A61B18/00

Abstract: Embodiments of a clamping instrument are disclosed. In some embodiments, a clamping device with calibrated parameters and a calibration process for the clamping device is presented. A method of calibrating a clamping instrument can include acquiring a data set of clamping torque as a function of tip deflection data for the clamping instrument; determining a torque limit from the data set; and storing the torque limit in the clamping instrument.

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：US11832900B2

公开(公告)日：2023-12-05

申请号：US17306721

申请日：2021-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B34/00 ,  A61B90/00 ,  A61B17/072 ,  A61B17/00 ,  A61B17/28 ,  B25J9/16 ,  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 ,  A61B34/37 ,  A61B90/06 ,  A61B90/08 ,  B25J9/1694 ,  G06F3/14 ,  A61B34/30 ,  A61B2017/00115 ,  A61B2017/00132 ,  A61B2017/2808 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/064 ,  A61B2090/0811 ,  G06F3/016 ,  G06F3/16

Abstract: Systems and methods for operating an end effector include an end effector for grasping a material, a drive system coupled to the end effector, and a processor. The processor is configured to use the drive system to grasp a material using the end effector, determine a grasping separation parameter of the end effector, determine, based on the determined grasping separation parameter, a prediction of success or failure in configuring the end effector for firing a staple through the material, and based on the determined grasping separation parameter, output an indicator of whether it is safe to proceed with stapling of the material grasped by the end effector.

公开(公告)号：US11096563B2

公开(公告)日：2021-08-24

申请号：US15463745

申请日：2017-03-20

Applicant: INTUITIVE SURGICAL OPERATIONS, INC

Inventor： Kevin Durant ,  David S. Mintz ,  Robert M. Ohline

IPC: A61B1/005 ,  A61B34/20 ,  A61B5/06 ,  A61M25/01 ,  A61B1/00 ,  A61B90/00

Abstract: A method for determining a shape of a bendable instrument can include placing the bendable instrument in a neutral position; moving a first control element a first amount until slack is removed from the first control element; moving a second control element a second amount until slack is removed from the second control element; sensing a position of the first control element after moving the first control element the first amount, the sensed position of the first control element being defined as a first control element calibration position; sensing a position of the second control element after moving the second control element the second amount, the sensed position of the second control element being defined as a second control element calibration position. The method can further include bending the instrument by moving one or both of the first control element and the second control element from the respective first control element calibration position and the second control element calibration position; and determining a resulting shape of the bendable instrument based on a distance one or both of the first control element and the second control element respectively moved from the first control element calibration position and second control element calibration.

公开(公告)号：US10277097B2

公开(公告)日：2019-04-30

申请号：US14154087

申请日：2014-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: H02K11/00 ,  A61B34/30 ,  A61B18/14 ,  A61B17/00 ,  A61B90/00

Abstract: A motor assembly is presented. A motor assembly can include at least one motor; a memory to store calibrated parameters related to the at least one motor; and electronics coupled to the memory, the at least one motor, the electronics including interfaces to couple with a clamping device and a system to control the operation of the at least one motor. The calibrated parameters are determined for the at least one motor with a procedure that includes performing an initial calibration of the at least one motor; wearing in the at least one motor; performing a final calibration of the at least one motor; and storing calibration data in the memory. In some embodiments, the at least one motor can include a clamping motor and/or a firing motor. In some embodiments, lifetime parameters are stored in the memory.

公开(公告)号：US09675354B2

公开(公告)日：2017-06-13

申请号：US14154075

申请日：2014-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B17/00 ,  A61B17/10 ,  A61B17/072 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/98 ,  A61B17/29 ,  A61B18/14 ,  A61B18/00 ,  A61B90/00

CPC classification number: A61B17/10 ,  A61B17/07207 ,  A61B18/1445 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/98 ,  A61B2017/00398 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2018/0063 ,  A61B2018/00988 ,  A61B2018/1455 ,  A61B2090/031

Abstract: Embodiments of a clamping system are disclosed. In some embodiments, a system used with a motor assembly and a clamping device is presented, the system adjusting torque limits in the motor assembly according to conditions, for example operating temperature of the motor assembly and aging of the clamping device and the motor assembly. The clamping device can be, for example, a stapler or a vessel sealer.

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.