公开(公告)号：US20130282023A1

公开(公告)日：2013-10-24

申请号：US13903997

申请日：2013-05-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs ,  Todd Murphy

IPC: A61B19/00 ,  F16D3/18

CPC classification number: A61B34/10 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00526 ,  A61B2034/305 ,  F16D3/185 ,  F16D3/26 ,  Y10S901/29 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

Abstract translation: 公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创手术工具。 细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线 横向于第一轴。 链接的张力构件与附件特征相互作用以铰接手腕。 扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。 驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。

公开(公告)号：US11098803B2

公开(公告)日：2021-08-24

申请号：US16263996

申请日：2019-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

IPC: F16J15/32 ,  A61B17/29 ,  A61B34/37 ,  A61B34/30

Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.

公开(公告)号：US09101381B2

公开(公告)日：2015-08-11

申请号：US13903997

申请日：2013-05-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

IPC: A61B17/00 ,  A61B19/00 ,  F16D3/26 ,  F16D3/18

CPC classification number: A61B34/10 ,  A61B17/00234 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00526 ,  A61B2034/305 ,  F16D3/185 ,  F16D3/26 ,  Y10S901/29 ,  Y10T29/49826

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

Abstract translation: 公开了具有两自由度手腕的手术工具，通过连接的张紧构件的手腕关节，通过角度传递扭矩的机构，以及结合了这些特征的微创外科手术工具。 细长的中间腕部构件与仪器轴的远端枢转地联接，以便围绕横向于轴的第一轴线旋转，并且末端执行器主体与中间构件枢转地联接，以围绕第二轴线旋转，第二轴线 横向于第一轴。 链接的张力构件与附件特征相互作用以铰接手腕。 扭矩传递机构包括联接构件，联接销，驱动轴和从动轴。 驱动轴与从动轴联接，以便控制驱动轴，联接构件和从动轴的相对定向。

公开(公告)号：US11357572B2

公开(公告)日：2022-06-14

申请号：US16381828

申请日：2019-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

IPC: A61B17/00 ,  F16D3/26 ,  A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  F16D3/18 ,  A61B17/064 ,  A61B17/28 ,  A61B17/285

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

公开(公告)号：US20190298453A1

公开(公告)日：2019-10-03

申请号：US16381828

申请日：2019-04-11

Applicant: Intuitive Surgical Operations, Inc.

Inventor： William Burbank ,  Gregory Dachs, II ,  Todd Murphy

IPC: A61B34/10 ,  A61B17/285 ,  A61B17/064 ,  A61B17/28 ,  A61B17/00 ,  A61B34/30 ,  F16D3/26 ,  F16D3/18 ,  A61B34/00 ,  A61B34/37

Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.

公开(公告)号：US20190162310A1

公开(公告)日：2019-05-30

申请号：US16263996

申请日：2019-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Grant Duque ,  Todd Murphy ,  William Burbank ,  Gregory W. Dachs, II

IPC: F16J15/32 ,  A61B34/37 ,  A61B34/30

Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.