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US 11,896,334 B2Granted
Computer-assisted teleoperated surgery systems and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsCraig Keith Tsuji, Edward Paul Donlon
Life of this patent
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Abstract
Systems and methods for minimally invasive computer-assisted telesurgery are described. For example, this disclosure describes computer-assisted teleoperated surgery instruments with cable-actuated joint mechanisms Some such joint mechanisms include linkages that maintain the joints in operable configurations without relying on cable tension to do so.
Claims20
A joint mechanism, comprising:
- a first end joint member;
- a middle joint member;
- a second end joint member;
- a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member;
- and
- a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member.
3 more elements
A surgical instrument, comprising:
- an elongate shaft;
- a joint mechanism, a first end of the joint mechanism coupled to a distal end of the elongate shaft, the joint mechanism comprising:
- a first end joint member;
- a middle joint member;
- a second end joint member;
- a first linkage member comprising a first annular band, the first linkage member pivotably coupled with the first end joint member and pivotably coupled with the middle joint member;
- and
- a second linkage member comprising a second annular band, the second linkage member pivotably coupled with the middle joint member and pivotably coupled with the second end joint member;
- and
- a surgical tool coupled to a second end of the joint mechanism.
7 more elements
A joint mechanism, comprising:
- a first end joint member including a first pair of protrusions;
- a middle joint member including a second pair of protrusions and a third pair of protrusions;
- a second end joint member including a fourth pair of protrusions;
- a first linkage member comprising a first annular band and defining a first pair of holes and a second pair of holes, the first pair of holes pivotably mated with the first pair of protrusions, the second pair of holes pivotably mated with the second pair of protrusions;
- and
- a second linkage member comprising a second annular band and defining a third pair of holes and a fourth pair of holes, the third pair of holes pivotably mated with the third pair of protrusions, the fourth pair of holes pivotably mated with the fourth pair of protrusions.
3 more elements
Dependencies are inferred from the claim text.