Intuitive Surgical Operations, Inc.

Intuitive Surgical, Inc.

Acuson Corporation

Other

Thomas G Cooper

S Christopher Anderson

Anthony K McGrogan

Eugene F Duval

David Q Larkin

Robert E Holop

David Joseph Rosa

Todd R Solomon

Daniel H Gomez

Craig R Ramstad

Bruce M Schena

Stephen J Blumenkranz

Matthew Reagan Williams

Gary S Guthart

Roman L Devengenzo

Jeffrey D Brown

Robert G Younge

Paul E Lilagan

Nicola Diolaiti

Nitish Swarup

Joseph Orban, Iii

Catherine J Mohr

Bram Gilbert Antoon Lambrecht

Paul W Mohr

Paul G Griffiths

Daniel T Wallace

Theodore W Rogers

Kent M Anderson

William A Burbank

Alan Eton Loh

Michael Lee Hanuschik

William John Park

Scott E Manzo

John Alexander Hossack

William C Nowlin

Gunter D Niemeyer

Craig R Gerbi

Christopher J Hasser

J Kenneth Salisbury, Jr

John W Sliwa, Jr

Lisa W Heaton

Giuseppe Maria Prisco

David S Mintz

Matthew Aaron Wixey

Patrick Flanagan

Frederic H Moll

David C Shafer

Christopher Allen Julian

Tuan Bui

Paul Millman

Chris A Julian

Michael R Costa

Michael J Tierney

Stacey Chang

Dustin Williams

Dean F Hoornaert

Thomas W Brown

John W Eaton

Sevig Ayter

Michael Ikeda

David L Martin

Steven J Blumenkranz

Scott Osborne Luke

Michael Prindiville

Nicholas H Ragosta

Margaret M Nixon

Donald Frank Wilson, Jr

S Christoper Anderson

David V Adams

John I Jackson

Jason W Hemphill

Alan W Petersen

Andris D Ramans

Andrew Cullen Waterbury

Daniel P Saraliev

Arthur E Schulze

Doron Levitas

Emil Steve Macha

Shan Padda

Isabelle Heye

Clint Deckert

Duane W Marion

Michael H Ikeda

Eric J Earnst

Karl Konecny

Douglas M Bruce

Joseph F Rosewarne

James E Phetteplace

Thoeodore W Rogers

Scott O Luke

Gregory W Dachs

Eugene F F Duval

Mathew R Williams

William A McDonald, Iii

Jordan M Klein

Thad Lieb

Anthony K Mcgrogan

David Martin

Matthew R c/o Intuitive Surgical Inc Williams

Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

Limited movement of a surgical mounting platform controlled by manual motion of robotic arms

A surgical instrument assembly comprises a guide tube and first and second instruments extended within the guide tube. The first instrument comprises a first elongated shaft coupled to a first end effector. The second instrument comprises a second elongated shaft coupled to a second end effector. The surgical instrument assembly may also comprise an imaging assembly extended distally of the guide tube. The imaging assembly comprises a distal imaging component and an elongated imaging shaft. The distal imaging component is coupled to a distal end of the elongated imaging shaft by a pivot joint. The imaging assembly has a first configuration with the elongated imaging shaft aligned with the distal imaging component when inserted through the guide tube and a second configuration with the distal imaging component pivoted out of alignment with the elongated imaging shaft when the distal imaging component is extended from the guide tube.

Side-looking minimally invasive surgery instrument assembly

An actuation mechanism for a medical instrument includes a pinion and a face gear that move a push-pull element. The pinion has a mounting that permits rotation of the pinion by an external control system such as a robot. The face gear meshes with the pinion. The push-pull element may have a proximal end coupled to the face gear and a distal end coupled to a tool at a distal end of an instrument shaft. A manipulator coupled for manual rotation of the actuation mechanism may include a slip clutch to prevent manual application of excessive force to the actuation mechanism.

Geared grip actuation for medical instruments

A surgical system includes a dynamic preload tension feature for a tensioning element that actuates a distal end component of a surgical instrument. The surgical instrument includes a chassis at a proximal end of the surgical instrument, drive components mounted in the chassis, a distal end component at a distal end of the surgical instrument, a flexible tensioning element coupled between a first of the drive components and the distal end component, and a dynamic preload tensioner mounted in the chassis and coupled to a second of the drive components. The flexible tensioning element extends along a path. The dynamic preload tensioner is configured to be driven by the second of the drive components to be moved relative to the chassis and is positioned to change the path of the flexible tensioning element as the dynamic preload tensioner moves relative to the chassis.

Systems to apply preload tension for surgical instruments and related methods

A medical instrument includes a roll mechanism that rotates an instrument shaft. The roll mechanism may include a first gear coupled to the instrument shaft and meshed with a second gear. One of gears may be a spur gear while the other gear may be a beveloid gear. Further, the spur gear and the beveloid gear may be in a gear train containing a compressible gear, e.g., a gear with an inner center piece, an outer ring, and a flexible interconnecting structure between the inner center piece and the outer ring. With a compressible gear, an interference fit of in the gear train may be within manufacturing variations of the gear train, and the compressible gear may deflect radially away from the interference fit.

Geared roll drive for medical instrument

An instrument includes a tubular shaft, an end effector coupled to a distal end portion of the tubular shaft, and a relief feature extending circumferentially along a wall of the shaft and along at least a portion of a length of the shaft. The relief feature defines flexural members on opposing sides of the relief feature. The flexural members can move relative to one another in response to bending the shaft. The flexural members can engage one another on one or both of tension and compression sides of the shaft on the condition the shaft is bent to an angle within a predetermined range of bend angles. Systems and methods relate to instruments including such shafts.

Instrument shafts with relief features, and related devices, systems, and methods

A surgical system comprises a manipulator arm and a surgical instrument. The surgical instrument includes: a transmission mechanism including a plurality of interface members; and an elongate body extending from the transmission mechanism. The surgical system further includes an instrument mounting structure mounted to the manipulator arm. The transmission mechanism of the surgical instrument is removably couplable to the instrument mounting structure. The instrument mounting structure includes a plurality of actuator members and a passage defined within the instrument mounting structure. When the surgical instrument is coupled to the instrument mounting structure: the plurality of interface members mate with the plurality of actuator members; and the elongate body of the surgical instrument extends between at least some of the plurality of actuator members and through the passage.

Minimally invasive surgical system

A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.

Cable tensioning in a robotic surgical system

A method includes receiving at a controller of a teleoperated surgical system a first signal indicating that a surgical instrument is in an installed position at a patient side cart of the teleoperated surgical system, receiving at the controller a second signal indicating that the surgical instrument is in a flux connection state, and outputting a signal via the controller to provide feedback indicating that the surgical instrument is in the flux connection state.

Flux disambiguation for teleoperated surgical systems

A drape includes a first drape portion configured to receive a manipulator arm of a surgical system and a pocket coupled to a distal portion of the first drape portion. The pocket is configured to receive a manipulator of the surgical system. The pocket includes a flexible membrane positionable between an output of the manipulator and an input of a surgical instrument mountable to the manipulator. In some embodiments, the flexible membrane is located at a distal end of the pocket. In some embodiments, the flexible membrane is configured to allow an actuating force to be transmitted from the output of the manipulator to the input of the surgical instrument. In some embodiments, the pocket provides a sterile barrier between the manipulator and the surgical instrument. In some embodiments, the drape further includes a rotatable seal configured to couple a proximal opening of the pocket to the first drape portion.

Surgical system sterile drape

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.

Instrument flushing system

A surgical system includes a surgical instrument that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument is coupled to motors in a surgical instrument manipulator assembly via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly. From the drive output disk in the surgical instrument manipulator assembly to the driven disk of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.

Preloaded surgical instrument interface

A cable-driven device, such as a joint or instrument of a computer-assisted manipulator system, may comprise a capstan mechanism to wind/unwind cables. The capstan mechanism comprises a capstan that has a groove in an outer surface of the capstan to guide the cables, which are routed from a take-up pulley, to spool onto the capstan as the capstan rotates. A guide element is engaged with the groove. The guide element is held translationally stationary relative to the take-up pulley, while there is relative translation between the capstan and both the guide element and the take-up pulley. Thus, as the capstan rotates, the guide element engages with the groove and forces the capstan and the take-up pulley to translate relative to one another. This relative translation of the capstan and the take-up pulley may prevent deviation of a take-up angle of the cable as the cable spools onto the capstan.

Devices, systems and methods for controlling cable drive mechanisms

A method of operating a manipulator arm comprising a manipulator interface configured to removably couple with and transmit actuation force to a medical instrument includes mounting a cannula to a cannula mount coupled to the manipulator arm; mounting a medical instrument to the manipulator interface; inserting a shaft of the medical instrument through an entry guide mounted to the cannula; rotating the manipulator interface and the medical instrument relative to the cannula mount; and rotating the entry guide relative to the cannula mount about a longitudinal axis of the cannula.

Surgical system entry guide

A surgical instrument assembly comprises a guide tube and a first instrument. The first instrument includes a first elongated shaft and a first proximal arm link coupled by a first shoulder joint, the first proximal arm link and a first distal arm link coupled by a first elbow joint, and the first distal arm link and a first end effector coupled by a first wrist joint. The surgical instrument assembly also comprises a second instrument that includes a second elongated shaft and a second proximal arm link coupled by a second shoulder joint, the second proximal arm link and a second distal arm link coupled by a second elbow joint, and the second distal arm link and a second end effector coupled by a second wrist joint. The surgical instrument assembly also includes an imaging assembly. The first and second end effectors are within the imaging assembly's field of view.

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Menlo Park, CA, United States of America

Thomas G Cooper