IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0407101
(2009-03-19)
|
등록번호 |
US-8758352
(2014-06-24)
|
발명자
/ 주소 |
- Cooper, Thomas G.
- Julian, Chris A.
- Blumenkranz, Stephen J.
- Younge, Robert G.
|
출원인 / 주소 |
- Intuitive Surgical Operations, Inc.
|
인용정보 |
피인용 횟수 :
37 인용 특허 :
107 |
초록
▼
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatib
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
대표청구항
▼
1. A surgical instrument releasably coupleable to a drive assembly of a robotic system, the surgical instrument comprising: a shaft having a longitudinal axis, a proximal portion, and a distal portion, said distal portion including at least one end effector member, said proximal portion comprising a
1. A surgical instrument releasably coupleable to a drive assembly of a robotic system, the surgical instrument comprising: a shaft having a longitudinal axis, a proximal portion, and a distal portion, said distal portion including at least one end effector member, said proximal portion comprising a first plurality of rotatable bodies rotatable about first rotational axes perpendicular to said shaft longitudinal axis;a plurality of joints, at least one of said joints being coupled to said end effector member, said joints being coupled to said first plurality of rotatable bodies by a plurality of drive members such that rotation of each rotatable body about its rotational axis moves a corresponding drive member to actuate a corresponding joint, each of said plurality of joints actuated by rotation about a second rotational axis perpendicular to said first rotational axes and said shaft longitudinal axis;wherein each of said first plurality of rotatable bodies comprises at least one pin separated from and parallel to the body's first rotational axis; wherein the at least one end effector member is coupled with at least one of said plurality of drive members which is housed within said shaft. 2. The surgical instrument of claim 1, at least one of said joints disposed adjacent said distal portion. 3. The surgical instrument of claim 2, further comprising a rotatable body causing rotation of the shaft about its longitudinal axis. 4. The surgical instrument of claim 1, at least one of the drive members comprising a flexible cable. 5. The surgical instrument of claim 1, further comprising a proximal latch for releasing the surgical instrument from the drive assembly. 6. A minimally invasive surgical instrument comprising: a shaft having a working end and a longitudinal axis;an end effector mounting formation positioned at the working end of the shaft and arranged to be angularly displaceable about at least two axes;elongate elements connected to the end effector mounting formation to cause selective movement of the end effector mounting formation about the at least two axes in response to selective pulling of the elongate elements;a support base positioned on an end of the shaft opposed to the working end;at least three rotatable driven elements angularly displaceably mounted on the support base and to which opposed ends of the elongate elements are coupled so that selective angular displacement of the driven elements causes the selective pulling of the elongate elements, the driven elements having rotational axes which are parallel and spaced apart relative to each other;wherein each of said driven elements comprises at least one pin separate from and parallel to the driven element's rotational axis. 7. The surgical instrument of claim 6, the end effector mounting formation being coupled with at least one of said at least three driven elements which is housed within said shaft. 8. The surgical instrument of claim 6, at least one of the elongate elements comprising a flexible cable. 9. The surgical instrument of claim 6, further comprising a proximal latch for releasing the surgical instrument from the driving assembly. 10. A surgical instrument for operative mounting to a robotic surgical system, the surgical system having a drive assembly operatively coupled to a control unit operable by inputs from an operator, the drive assembly having a plurality of actuator bodies which are movable in response to operator inputs, the surgical instrument comprising: a shaft having a longitudinal axis and comprising a proximal portion and a distal portion, the proximal portion comprising a first plurality of movable engaging interface bodies, each of said plurality of movable engaging interface bodies being rotatable about a rotational axis perpendicular to said shaft longitudinal axis;at least one end effector member coupled to the distal portion;a plurality of joints, at least one of the joints being coupled to the at least one end effector member, the joints being coupled to the plurality of movable engaging interface bodies by a plurality of drive members such that rotation of each interface body about its rotational axis moves a corresponding drive member to actuate a corresponding joint;wherein each of said first plurality of movable engaging interface bodies comprises at least one pin separate from and parallel to the body's rotational axis. 11. The surgical instrument of claim 10, at least one of the drive members comprising a flexible cable. 12. The surgical instrument of claim 10, further comprising a proximal latch for releasing the surgical instrument from the drive assembly.
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