Intuitive Surgical Operations, Inc.

3M Innovative Properties Company

Pepsico, Inc.

Intuitive Surgical, Inc.

Stacey Chang

Thomas G Cooper

Daniel T Wallace

S Christopher Anderson

Dustin Williams

Scott E Manzo

John Brassil

Shu Kun Chang

Andrzej Skoskiewicz

Joseph H Boggs

Kenneth R Waeber

Eric M Luther

Ben Tarbell

Reggie D Fortson

Brian D Cameron

Christopher S Anderson

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.

Apparatus for pitch and yaw rotation

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.

Surgical tool having positively positionable tendon-actuated multi-disk wrist joint

The bottle closure comprises a generally cylindrical inner member adapted to be threadedly engaged on the outside of the neck of a bottle. The inner member has a central passage communicating with the neck of the bottle. An outer member is rotatably mounted on and around the inner member. The inner member includes a valve seat defining a fluid passage between the bottle and the outer member and being located within the neck of the bottle. The outer member includes a valve closure element adapted to close the fluid passage in a first annular position of the outer member on the inner member thereby to form a seal with the valve seat. The outer member, when moved to a second annular position relative to the inner member, opens the fluid passage, thereby to allow fluid in a bottle to flow through the closure.

Bottle closure

A dispenser for conveniently dispensing multiple transdermal/transmucosal drug-containing patches from a single container. The dispenser has an inner cartridge defined by walls made of an impermeable material, wherein the inner cartridge is hermetically sealed during storage. In another aspect, the dispenser incorporates a child-resistant mechanism.

Transdermal/transmucosal patch packaging

Growing community of inventors

Sunnyvale, CA, United States of America

Stacey Chang