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US 11,141,232 B2Granted
Teleoperated surgical instruments
AssigneeIntuitive Surgical Operations, Inc.
InventorRyan Charles Abbott
Life of this patent
Estimating the term…
Abstract
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.
Claims20
A surgical system comprising:
- an instrument manipulator comprising an outer housing and an instrument receptacle in the outer housing,
- wherein the outer housing extends around a longitudinal axis,
- wherein a proximal portion of the outer housing defines a proximal outer housing boundary around the longitudinal axis, and
- wherein a distal portion of the outer housing defines a distal outer housing boundary, the distal portion of the outer housing having a cutout volume extending along the longitudinal axis;
- and
- a surgical instrument comprising a handle,
- wherein, while the surgical instrument is coupled in the instrument receptacle, the surgical instrument is proximally and distally movable relative to the outer housing, and
- wherein, when the surgical instrument is positioned distally relative to the outer housing, the handle of the surgical instrument extends radially and terminates within the cutout volume.
5 more elements
A surgical system comprising:
- a surgical instrument actuation mechanism comprising a housing defining an insertion axis and an outer periphery around the insertion axis;
- and
- a surgical instrument releasably coupleable with the surgical instrument actuation mechanism and defining a longitudinal axis, the surgical instrument comprising a handle,
- wherein, while the surgical instrument is coupled with the surgical instrument actuation mechanism:
- (i) the longitudinal axis of the surgical instrument is on the insertion axis, (ii) the surgical instrument is proximally and distally movable relative to the outer housing, (iii) the handle is completely within a radius of a maximum outer periphery of the outer periphery, and (iv) the handle extends radially outward from a radius of a minimum outer periphery of the outer periphery.
2 more elements
A surgical system comprising:
- a surgical instrument actuation mechanism comprising:
- a housing;
- and
- a carriage disposed within the housing and configured to translate between a proximal end of the housing and a distal end of the housing;
- and
- a surgical instrument releasably coupleable with the carriage, the surgical instrument comprising a handle extending radially away from a longitudinal axis of the housing,
- wherein, while the surgical instrument is coupled with the carriage:
- (i) the handle extends radially outward farther than the housing while the carriage is at the proximal end of the housing and (ii) the housing extends radially outward farther than the handle while the carriage is at the distal end of the housing.
5 more elements
Dependencies are inferred from the claim text.