Intuitive Surgical Operations, Inc.

Boston Scientific Scimed, Inc.

Alain Sadaka

John Ryan Steger

Harsukhdeep Singh Ratia

Zhou Ye

Theodore W Rogers

Daniel H Gomez

Craig R Gerbi

Tyler J Morrissette

Michael Turner

Charles E Swinehart

Margaret M Nixon

Andrew Cullen Waterbury

Joseph P Orban

Brian M Crews

Kerry S Wang

Joseph A Kemp

Jian R Yuan

Wingman C Tse

Joseph P Iii Orban

A low-friction medical device is provided having roller-assisted tension members and a friction-reducing curved guide path. The device includes a first link, a second link, and a tension member. A proximal end portion of the first link is coupled to an instrument shaft. A proximal end portion of the second link is rotatably coupled to a distal end portion of first link about a first axis. The second link defines a curved guide path and a cable extends from the first link through the curved guide path to a distal end of the second link and couples with a tool member. A roller having a roller surface is coupled to the second link such that the roller surface is aligned with a portion of the curved path and contacts the cable therein. The curved guide surface has a small fleet angle.

Low-friction medical tools having roller-assisted tension members

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.

Low-friction, small profile medical tools having easy-to-assemble components

A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.

Systems and methods for controlling a surgical instrument

Illustrative systems and methods for inserting an elongate flexible instrument into a target environment are described. An illustrative system includes a guide device positioned near an opening to the target environment and having a rotary mechanism and a motor configured to drive the rotary mechanism. The system further includes a sensor system associated with insertion of the elongate flexible instrument along an insertion axis and a processor communicatively coupled to the motor and the sensor system. The processor is configured to receive sensor data from the sensor system, evaluate the sensor data, and control, based on the evaluation, the motor to actuate the elongate flexible instrument along the insertion axis. In some examples, the processor controls the motor to vary a rate of rotation of the rotary mechanism based on a determined system status.

Systems and methods for inserting an elongate flexible instrument into an environment

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.

Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.

Teleoperated surgical instruments

Growing community of inventors

San Jose, CA, United States of America

Alain Sadaka