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1. 发明授权

US11624428B2 Lever actuated gimbal plate 有权
公开(公告)号：US11624428B2
公开(公告)日：2023-04-11
申请号：US17569378
申请日：2022-01-05
申请人： Intuitive Surgical Operations, Inc.
发明人： Thomas G. Cooper , S. Christopher Anderson
IPC分类号： A61B1/005 , A61B34/30 , F16H21/54 , A61B34/00 , B25J9/10 , A61B17/00
摘要： A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

2. 发明授权

US11304766B2 Sheath for surgical instrument 有权
公开(公告)号：US11304766B2
公开(公告)日：2022-04-19
申请号：US16381323
申请日：2019-04-11
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： William J. Park , S. Christopher Anderson , Thomas G. Cooper , Matthew R. Williams
IPC分类号： A61B34/30 , A61B46/13 , A61B90/00 , A61B46/10 , A61B34/35 , A61B18/14 , A61B18/00
摘要： A surgical apparatus comprises an instrument shaft having a proximal end and a distal end, an end effector coupled to the distal end of the shaft, and a sheath disposed on an external surface of the instrument shaft. The sheath has a first section made of ePTFE and a second section made of a second material, wherein the second section provides a friction seal with the shaft, and wherein the ePTFE is gas-permeable.

3. 发明申请

US20190314046A1 ROTARY INPUT FOR LEVER ACTUATION 审中-公开
公开(公告)号：US20190314046A1
公开(公告)日：2019-10-17
申请号：US16456148
申请日：2019-06-28
申请人： Intuitive Surgical Operations, Inc.
发明人： S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B17/28 , A61B34/30 , A61B34/00
摘要： A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.

4. 发明授权

US10335176B2 Rotary input for lever actuation 有权
公开(公告)号：US10335176B2
公开(公告)日：2019-07-02
申请号：US16121831
申请日：2018-09-05
申请人： Intuitive Surgical Operations, Inc.
发明人： S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B17/28 , A61B34/00 , A61B34/30 , A61B17/00
摘要： A medical device includes a lever with an applied force position, a load position, and a fulcrum position. A first cable extends from the applied force position of the lever to a first capstan, the first cable wrapping around the first capstan. A second cable extends from the applied force position of the lever to a second capstan, the second cable wrapping around the second capstan. A rod couples the load position of the lever and a surgical end effector. The first and second capstans may be fixed to an axle. The axle may receive a rotational input from a rotary actuator. A hand wheel may be coupled to the axle. There may be a spring between a support structure and the lever to bias the lever to rotate about the fulcrum position of the lever.

5. 发明授权

US10076348B2 Rotary input for lever actuation 有权
公开(公告)号：US10076348B2
公开(公告)日：2018-09-18
申请号：US14461260
申请日：2014-08-15
申请人： Intuitive Surgical Operations, Inc.
发明人： S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B17/28 , A61B34/00 , A61B34/30 , A61B17/00
CPC分类号： A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
摘要： A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.

6. 发明申请

US20150051618A1 ROTARY INPUT FOR LEVER ACTUATION 审中-公开
标题翻译：用于杠杆运动的旋转输入
公开(公告)号：US20150051618A1
公开(公告)日：2015-02-19
申请号：US14461260
申请日：2014-08-15
申请人： Intuitive Surgical Operations, Inc.
发明人： S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B17/00 , A61B17/28 , A61B19/00
CPC分类号： A61B17/28 , A61B34/30 , A61B34/71 , A61B2017/00477
摘要： A surgical instrument includes a surgical end effector coupled to an elongate tube and a rod that passes through the elongate tube. A control mechanism coupled to the elongate tube includes an input axle having a first axis of rotation, an idler pulley having a second axis of rotation perpendicular to the first axis, and a lever coupled to the rod and having a third axis of rotation parallel to the second axis. First and second capstans are fixed to the input axle. Cables pass over the idler pulley and are coupled to the lever. Rotating the input axle in a first direction winds a first cable onto the first capstan, rotates the lever, and moves the rod in a second direction. Rotating the input axle opposite the first direction winds a second cable onto the second capstan, rotates the lever, and moves the rod opposite the second direction.
摘要翻译：手术器械包括连接到细长管的手术末端执行器和穿过细长管的杆。耦合到细长管的控制机构包括具有第一旋转轴线的输入轴，具有垂直于第一轴线的第二旋转轴线的惰轮，以及连接到该杆并具有平行于第三轴线的第三旋转轴线的杆第二轴。第一和第二个绞盘固定在输入轴上。电缆穿过惰轮，并连接到杠杆上。沿第一方向旋转输入轴将第一缆线卷绕到第一绞盘上，旋转杆，并使杆沿第二方向移动。使输入轴与第一方向相反的方向将第二缆线卷绕到第二主导轴上，使杆旋转并使杆与第二方向相反地移动。

7. 发明授权

US11051794B2 Apparatus for pitch and yaw rotation 有权
公开(公告)号：US11051794B2
公开(公告)日：2021-07-06
申请号：US16162652
申请日：2018-10-17
申请人： Intuitive Surgical Operations, Inc.
发明人： Thomas G. Cooper , Daniel T. Wallace , Stacey Chang , S. Christopher Anderson , Dustin Williams
IPC分类号： A61B17/00 , A61B34/00 , A61B34/30 , A61B17/29 , A61B1/005 , A61B1/008
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.

8. 发明授权

US11000345B2 Instrument flushing system 有权
公开(公告)号：US11000345B2
公开(公告)日：2021-05-11
申请号：US16317222
申请日：2017-06-22
申请人： Intuitive Surgical Operations, Inc.
发明人： Bram Gilbert Antoon Lambrecht , S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B90/70 , B08B9/032 , A61B34/30 , A61B17/29 , A61B17/00
摘要： A medical instrument includes an instrument shaft with exit holes near a distal end of the shaft, a tool coupled to the distal end of the shaft, and a backend. The backend may include a mechanism that manipulates a drive element that extends through the shaft and couples to the tool, a fluid inlet, and a fluid channel assembly providing fluid communication between the fluid inlet and the proximal end of the shaft. Cleaning fluid is directed into the fluid inlet, through the fluid channel assembly, and into the shaft. A chassis or other structural piece of the backend may form part of the fluid channel assembly.

9. 发明授权

US10980556B2 Rotary input for lever actuation 有权
公开(公告)号：US10980556B2
公开(公告)日：2021-04-20
申请号：US16456148
申请日：2019-06-28
申请人： Intuitive Surgical Operations, Inc.
发明人： S. Christopher Anderson , Thomas G. Cooper
IPC分类号： A61B17/28 , A61B34/00 , A61B34/30 , A61B17/00
摘要： A force transmission with means for winding a first cable onto a first capstan and a second cable onto a second capstan with a first axis of rotation. The first and second cables wound such that when one of the two cables is payed out, the other of the two cables is payed in. The force transmission further includes means for passing the first and cables over an idler pulley in opposite directions. The idler pulley has a second axis of rotation substantially perpendicular to the first axis of rotation. The force transmission further includes means for coupling the first cable to a lever to rotate the lever in a first direction and means for coupling the second cable to the lever to rotate the lever in a second direction opposite the first direction, the lever having a third axis of rotation substantially parallel to the second axis of rotation.

10. 发明申请

US20200173525A1 LEVER ACTUATED GIMBAL PLATE 审中-公开
公开(公告)号：US20200173525A1
公开(公告)日：2020-06-04
申请号：US16780432
申请日：2020-02-03
申请人： Intuitive Surgical Operations, Inc.
发明人： Thomas G. Cooper , S. Christopher Anderson
IPC分类号： F16H21/54 , A61B34/00 , A61B1/005 , A61B34/30
摘要： A force transmission transmits forces received by three levers to an input gimbal plate having three support points. The input gimbal play may in turn transmit the force to a wrist assembly coupled to a surgical tool. The three axes of rotation for the three levers are parallel. Two of the levers may have half-cylinder surfaces at an end of the lever to receive a support point of the input gimbal plate. Two of the levers may be supported with one degree of rotational freedom orthogonal to the axis of rotation of the fulcrum. A spring may draw the second and third levers toward one another. Two levers may have stops that bear against the support points. The force transmission may include a parallelogram linkage that includes a rocker link pivotally coupled to the first lever and having a flat surface that supports the first gimbal support point.

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