公开(公告)号：US20160199138A1

公开(公告)日：2016-07-14

申请号：US14911514

申请日：2014-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： THOMAS G. COOPER ,  ANTHONY K MCGROGAN ,  ROBERT E HOLOP

IPC分类号： A61B34/30 ,  A61B34/00

CPC分类号： A61B34/30 ,  A61B34/70 ,  A61B2017/00477

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。

公开(公告)号：US20160184033A1

公开(公告)日：2016-06-30

申请号：US14911508

申请日：2014-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： THOMAS G. COOPER ,  ROBERT E. HOLOP

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。

公开(公告)号：US20160184035A1

公开(公告)日：2016-06-30

申请号：US14911516

申请日：2014-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： THOMAS G. COOPER ,  ANTHONY K MCGROGAN ,  ROBERT E. HOLOP ,  TODD R. SOLOMON ,  EUGENE F. DUVAL ,  KENT M. ANDERSON

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2017/00477 ,  A61B2034/303

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。

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：US20140243852A1

公开(公告)日：2014-08-28

申请号：US14271763

申请日：2014-05-07

申请人： Intuitive Surgical Operations, Inc.

发明人： THOMAS G. COOPER ,  Stephen J. Blumenkranz ,  Gary S. Guthart ,  David J. Rosa

IPC分类号： A61B19/00

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/10 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/506 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/15 ,  Y10S901/16 ,  Y10S901/17 ,  Y10S901/18

摘要： A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.

摘要翻译： 机器人手术系统包括安装基座，多个外科器械和关节支撑组件。 每个器械可以通过相关的微创孔径插入到患者体内到期望的内部手术部位。 铰接支撑组件相对于基座可移动地支撑仪器。 支撑件通常包括定向平台，相对于基座可移动地支撑定向平台的平台连接器和安装到定向平台的多个操纵器，其中每个操纵器可移动地支撑相关联的工具。

公开(公告)号：US20220218429A1

公开(公告)日：2022-07-14

申请号：US17712370

申请日：2022-04-04

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： THOMAS G. COOPER ,  Eugene F. Duval ,  David J. Rosa ,  Matthew R. Williams

IPC分类号： A61B34/00 ,  A61B34/37 ,  A61B34/30 ,  A61B1/00 ,  A61B1/005 ,  A61B1/018 ,  A61B90/10 ,  A61B1/002 ,  A61B5/00 ,  A61B8/12 ,  A61B1/04 ,  A61B1/06 ,  A61B1/05 ,  A61B17/00

摘要： A surgical instrument assembly may comprise a guide tube including a distal end and a first instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end. The surgical instrument may also include an imaging instrument extending within the guide tube and configured to exit the guide tube proximal of the distal end.

公开(公告)号：US20160184037A1

公开(公告)日：2016-06-30

申请号：US14911529

申请日：2014-08-13

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： THOMAS G. COOPER ,  ANTHONY K MCGROGAN ,  ROBERT E. HOLOP ,  TODD R. SOLOMON ,  EUGENE F. DUVAL ,  KENT M. ANDERSON

IPC分类号： A61B34/30

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。

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。

公开(公告)号：US20160184034A1

公开(公告)日：2016-06-30

申请号：US14911510

申请日：2014-08-14

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： ROBERT E. HOLOP ,  THOMAS G. COOPER

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2017/00477 ,  A61B2034/303

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。

公开(公告)号：US20150066002A1

公开(公告)日：2015-03-05

申请号：US14536899

申请日：2014-11-10

申请人： Intuitive Surgical Operations, Inc.

发明人： THOMAS G. COOPER ,  DANIEL T. WALLACE ,  CHANG STACEY CHANG ,  S. CHRISTOPHER ANDERSON ,  WILLIAM DUSTIN ,  SCOTT E. MANZO

IPC分类号： A61B17/00

CPC分类号： A61B17/00234 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B34/30 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/00314 ,  A61B2017/0069 ,  A61B2017/2908 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/306

摘要： The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.

摘要翻译： 本发明涉及一种具有手腕机构的工具，其提供俯仰和偏转旋转，使得该工具在滚动，俯仰和偏转中没有奇异性。 可靠地定位的多盘腕式机构包括多个堆叠在一起的盘或椎骨。 每个椎骨被配置为相对于每个相邻的椎骨以俯仰或偏航方式旋转。 驱动电缆用于操纵和控制椎骨的运动。 在具体实施例中，一些电缆是从近端椎骨通过一个或多个中间椎骨延伸到远端椎骨的远端电缆，而其余电缆是从近端椎骨延伸到一个或多个中间椎骨的内侧电缆。 电缆由枢轴板电缆致动器机构致动。 在具体实施例中，致动器机构包括用于接纳中间电缆的多个小半径孔或槽，以及用于接收远端电缆的多个大半径孔或槽。 孔或凹槽将内侧电缆限制在较小的运动半径和远端电缆到大的运动半径，使得到内侧椎骨的内侧电缆仅将远端电缆的一部分量移动到远端椎骨， 以便精确控制和操纵椎骨。