Intuitive Surgical Operations, Inc.

Maquet Cardiovascular LLC

Hewlett-packard Development Company, L.p.

Hewlett-packard Company

Other

Promed, Inc.

Ovalis, Inc.

Ryan Charles Abbott

John Ryan Steger

Daniel H Gomez

Arthur M Lin

Kenny L Dang

Liming Lau

Arnold M Escano

Jerry Jarrard

Jesse McQuiston

Ian E McDowall

Amy E Kerdok

Joseph N Lamberti

Geoffrey H Willis

Fred Ginnebaugh

Michael C Stewart

Samuel B Ho

W Martin Belef

Ronald J Jabba

Dean F Carson

Rajiv Doshi

Peter L Callas

Rohit Kulbhushan Girotra

Robert M Pearson

Isabelle Heye

Justin Williams

Sam Ho

Kimberly D Barkman

Monroe C Stewart, Jr

Dinesh Rabindran

Mark D Feldmeyer

David Baik

Ravinder D Pamnani

Christopher Gregory Malone

Anthony J Pantages

Bram Gilbert Antoon Lambrecht

Craig Edward Lauchner

Peter Tachi Callas

Greg Liu

Juan I Perez

Charles J Adam

Robert M Hintz

Amit Agarwal

Amar Kendale

Taylor Heanue

Thang Tom Ung

Larry Zieminski

Ashley Lynne Oliver

Mark Harasym

Jamie Juliana Van Hoften

Kelly L Dang

Kimberly D Otto

Samnuel Ho

Frederick Alexander Ginnebaugh

Alfredo Cantu R

Frederick Barrigar

Fred Villagomez

Ian E Mcdowall

Techniques for controlling an end effector include a first engagement member coupled to a first actuator, a second engagement member coupled to a second actuator; and a control unit. The control unit is configured to engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom (DOF) of an end effector in a first direction; engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the DOF in a second direction opposite the first direction; actuate the DOF in the first direction to a first detectable position; actuate the DOF in the second direction to a second detectable position; and actuate the DOF to a third position between the first and second detectable positions.

Systems and methods for control of end effectors

A manipulator for articulating a surgical instrument may comprise an instrument holder configured to couple with the surgical instrument and to pivot about a remote center of motion. The manipulator may comprise a linkage assembly coupled to the instrument holder and configured to constrain rotational motion of the instrument holder to pivot about the remote center of motion. The linkage assembly may comprise a first, second, and third linkage arms. The second linkage arm may be rotatably coupled to the first linkage arm with a proximal end of the first linkage arm and a proximal end of the second linkage arm coupled at a proximal pivot joint. A third linkage arm may be translationally coupled to the second linkage arm. Movement of the second linkage arm and the third linkage arm may cause a distal end of the third linkage arm to trace an arc around the remote center of motion.

Systems and methods for a kinematically-controlled remote center manipulator

A force transmission mechanism includes a chassis that supports a rotatable arm, which includes a slot. A rotatable lever is supported by the chassis. A protrusion at an end of the lever engages the slot. A sliding drive element is supported by the chassis. A proximal termination of the drive element engages a second end of the lever. The chassis may support an elongate tube with an end effector fixed to the tube. The drive element may extend through the elongate tube. The elongate tube may rotate relative to the chassis. The drive element may rotate in unison with the elongate tube with the proximal termination rotating relative to the fork. The drive element may be a tube that provides a fluid passage to the end effector. The lever may be a bell crank with arms at a right angle.

Instrument transmission converting roll to linear actuation

A system generally includes a surgical manipulator configured to control motion of a surgical tool, and a clamping apparatus having a mounting location configured to support the surgical manipulator and couple to a mounting structure. The clamping apparatus may include a body, a first jaw coupled to the body and configured to engage a first portion of the mounting structure, and a second jaw coupled to the body and configured to engage a second portion of the mounting structure. At least one of the first jaw and the second jaw may be movably coupled to the body and configured to move along a non-linear path to clamp mounting structures of different sizes. A lever may be pivotably coupled to the body and may be movable between a unclamped position and a clamped position. Alternatively, a motor may be operable to attach the clamping apparatus to the mounting structure.

Modular clamps for mounting surgical manipulators

An actuator for use in a surgical instrument, the actuator includes an upper portion configured to be actuated by one or more fingers, wherein the upper portion has an upper distal portion for operating the surgical instrument in a first mode of operation, and an upper proximal portion for operating the surgical instrument in a second mode of operation, and wherein the upper distal portion and the upper proximal portion have different respective tactile configurations for informing the user of the first and second modes of operation, respectively.

Surgical instrument and method

Systems and methods for minimally invasive computer-assisted telesurgery are described. A computer-assisted teleoperated surgery system includes a teleoperated instrument actuation pod. The surgical instrument actuation pod includes a plurality of linear actuators arranged around a surgical instrument. The linear actuators engage with actuator engagement members on the instrument and so drive movable parts on the instrument. The actuation pod is mounted on a teleoperated manipulator. Instrument pod mass is close to the teleoperated manipulator to minimize the pod's inertia, momentum, and gravity effects on the manipulator.

Computer-assisted tele-operated surgery systems and methods

A teleoperated manipulator system includes a manipulator assembly and a tool actuation assembly coupled to the manipulator assembly. The tool actuation assembly inserts a tool, such as a surgical instrument, along an insertion axis and also rotates the tool around the insertion axis. The manipulator assembly includes an arm that rotates with reference to a mounting base to rotate the tool around a yaw axis that intersects the insertion axis. A distal portion of the arm defines an arcuate pitch arc, and a center of the pitch arc is coincident with the intersection of the insertion axis and the yaw axis. The tool actuation assembly is driven along the pitch arc to pitch the tool. The manipulator system is optionally a telesurgical system, and the tool is optionally a therapeutic, diagnostic, or imaging surgical instrument.

Computer-assisted teleoperated surgery systems and methods

A medical device includes a first link, a second link, and a band. A proximal end portion of the first link is coupled to a 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 distal end portion of the second link includes a connector coupled to a tool member that is rotatable relative to the second link about a second axis that is non-parallel to the first axis. The first link defines a first guide channel and the second link defines a second guide channel. A distal end of the band is disposed within the first guide channel and the second guide channel, and is coupled to the tool member. The second link is rotatable relative to the first link about the first axis when the distal end of the band is moved.

Medical tools having tension bands

A surgical instrument includes a jaw assembly having a first jaw that includes a support structure with an opening, an electrically insulative material disposed on the support structure, and an operative element for applying energy to tissue, wherein the electrically insulative material extends through the opening of the support structure to thereby secure the electrically insulative material to the support structure.

Manipulator devices are used for computer-assisted tele-operated surgery. In some embodiments, the manipulator devices described herein include an arm with a proximal end that is configured to releasably couple with a set-up structure of a computer-assisted tele-operated surgery system. A first ring is rotatably coupled to a distal end portion the arm and is rotatably driven by a first gear motor within the arm. A second ring that is concentric with the first ring is also rotatably coupled to the distal end portion of the arm. Rotations of the second ring are driven by a second gear motor within the arm. An instrument actuator coupling is pivotably coupled to the second ring. The instrument actuator coupling is configured to releasably couple with a computer-assisted tele-operated surgical instrument actuator, and defines a surgical instrument insertion axis.

Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure provides surgical instruments and instrument drive systems for computer-assisted tele-operated surgery that are structured and operated to negate the effects of cable stretch within the surgical instruments.

An instrument system includes an instrument, a drive system, and a controller operably connected to a first drive mechanism and a second drive mechanism of the drive system. The controller is configured to operate the first drive mechanism and the second drive mechanism drive a flexible tensioning member of the instrument to cause movement of an end effector of the instrument while maintaining a tension applied to the flexible tensioning member of the instrument in a tension range.

Control of computer-assisted tele-operated systems

A system and method of controlling an end effector includes a drive unit having a first actuator and a second actuator, a moveable platform drivably coupled to the first actuator, first and second engagement members drivably coupled to the second actuator; and a control unit. The control unit is configured to actuate the first actuator to drive the platform, detect engagement of the first engagement member with a third engagement member of an instrument, detect engagement of the second engagement member with a fourth engagement member of the instrument, and actuate the second actuator to drive the first and second engagement members. Movement of the third and engagement member causes movement of a degree of freedom of an end effector of the instrument in a first direction. Movement of the fourth engagement member causes movement of the degree of freedom in a second direction opposite the first direction.

A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.

Growing community of inventors

San Jose, CA, United States of America

Ryan Charles Abbott