RIGIDLY-LINKED ARTICULATING WRIST WITH DECOUPLED MOTION TRANSMISSION
Granted: May 1, 2008
Application Number:
20080103524
The present invention is a device having a rigidly linked jaw that is decoupled from an articulating wrist. The device provides for articulating motion as well as actuation that may be used in grasping, cutting, suturing or the like.
ARTICULATED SURGICAL INSTRUMENT FOR PERFORMING MINIMALLY INVASIVE SURGERY WITH ENHANCED DEXTERITY AND SENSITIVITY
Granted: March 27, 2008
Application Number:
20080077159
An articulated surgical instrument for enhancing the performance of minimally invasive surgical procedures. The instrument has a high degree of dexterity, low friction, low inertia and good force reflection. A unique cable and pulley drive system operates to reduce friction and enhance force reflection. A unique wrist mechanism operates to enhance surgical dexterity compared to standard laparoscopic instruments. The system is optimized to reduce the number of actuators required and thus…
MINIMALLY INVASIVE SURGERY GUIDE TUBE
Granted: March 20, 2008
Application Number:
20080071288
A guide tube has an oblong cross-sectional shape. A first surgical instrument passes through one end of the oblong shape, and a second surgical instrument passes through the other end of the oblong shape. An imaging system is on the guide tube, in some aspects at the guide tube's distal end. In some aspects the guide tube and the instruments are telemanipulatively controlled.
SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY
Granted: March 20, 2008
Application Number:
20080071289
Two surgical instruments are inserted through a guide tube. The surgical instruments exit at an intermediate position of the guide tube and are oriented to be substantially parallel to the guide tube's longitudinal axis as they exit. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tube's distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The surgical…
MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY WITH REDUCED CROSS SECTION
Granted: March 20, 2008
Application Number:
20080071290
A surgical instrument extends through a guide tube and exits at an intermediate position of the guide tube. The instrument includes a parallel motion mechanism that changes the position of a distal end of the surgical instrument without changing the orientation of the distal end. An image capture component is at the distal end of the guide tube, and a joint allows the image capture component to move while the intermediate position remains stationary. The configuration allows a cross…
MINIMALLY INVASIVE SURGICAL SYSTEM
Granted: March 20, 2008
Application Number:
20080071291
Two surgical instruments are extended through a single guide tube in a telemanipulation system. Telemanipulation actuators move each of the instruments in all six Cartesian degrees of freedom independently of any guide tube movement.
MINIMALLY INVASIVE SURGICAL SYSTEM
Granted: March 13, 2008
Application Number:
20080065108
Two surgical instruments are extended through a single guide tube in a telemanipulation system. A control system moves each of the instruments in all six Cartesian degrees of freedom independently of any guide tube movement in response to telemanipulation inputs received from masters.
MINIMALLY INVASIVE SURGICAL APPARATUS WITH SIDE EXIT INSTRUMENTS
Granted: March 13, 2008
Application Number:
20080065106
Two primary guide tubes are inserted through a secondary guide tube, and the primary guide tubes exit via side exit ports of the secondary guide tube. Surgical instruments are inserted through the primary guide tubes. The surgical instruments are telemanipulatively operated by moving components of the instruments and/or components of the primary guide tubes and/or components of the secondary guide tube. A stereoscopic image capture component is at the distal end of the secondary guide…
MINIMALLY INVASIVE SURGICAL SYSTEM
Granted: March 13, 2008
Application Number:
20080065105
The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends trough a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
MINIMALLY INVASIVE SURGICAL INSTRUMENT ADVANCEMENT
Granted: March 13, 2008
Application Number:
20080065104
A guide probe is telemanipulatively advanced past an intermediate tissue structure. The guide probe is locked in position and a guide tube is advanced over the guide probe. The guide tube is then locked in position, the guide probe is withdrawn, and a surgical instrument is inserted through the guide tube. In aspects of the invention, the guide tube and the surgical instrument are telemanipulatively controlled.
SURGICAL INSTRUMENT CONTROL AND ACTUATION
Granted: March 13, 2008
Application Number:
20080065103
Two or more telemanipulated surgical instruments are inserted through a guide tube. Each instrument has a transmission mechanism that transmits actuating forces from actuators to components of the instrument. The transmission mechanisms are arranged around an extended centerline of the guide tube and are wedge-shaped so that they can be positioned more closely to the extended centerline.
SURGICAL INSTRUMENT WITH PARALLEL MOTION MECHANISM
Granted: March 13, 2008
Application Number:
20080065102
A surgical instrument has a parallel motion mechanism coupled between an instrument body segment and the instrument's distal end. The parallel motion mechanism changes the end effector's position without changing the end effector's orientation. In an aspect of the invention, the parallel motion mechanism and the body segment have essentially the same cross section so that the parallel motion mechanism can be inserted through a guide tube. In an aspect of the invention, the parallel…
MINIMALLY INVASIVE SURGICAL APPARATUS WITH SIDE EXIT INSTRUMENTS
Granted: March 13, 2008
Application Number:
20080065101
Two surgical instruments are inserted through a guide tube and exit via side exit ports of the guide tube. The side exit ports are on opposite sides of the guide tube. A stereoscopic image capture component is at the distal end of the guide tube. Both the surgical instruments and the guide tube may be flexible, and in some aspects the guide tube is retroflexive. The guide tube and the instruments are telemanipulatively controlled. The guide tube has an oblong-shaped cross section, and…
MINIMALLY INVASIVE SURGICAL INSTRUMENT SYSTEM
Granted: March 13, 2008
Application Number:
20080065100
Two or more minimally invasive surgical instruments are assembled in a magazine A first one of the instruments is inserted into and withdrawn from a guide tube, and then a second one of the surgical instruments is inserted into the guide tube in place of the first one of the instruments. Several magazines may be used, each magazine being configured with all instruments necessary to perform different surgical procedures.
SIDE LOOKING MINIMALLY INVASIVE SURGERY INSTRUMENT ASSEMBLY
Granted: March 13, 2008
Application Number:
20080065099
A surgical instrument is inserted through a guide tube. The surgical instrument exits at an intermediate position of the guide tube and is oriented to be substantially parallel to the guide tube's longitudinal axis as it exits. A stereoscopic image capture component is on the guide tube between the intermediate position and the guide tubers distal end. The image capture component's field of view is generally perpendicular to the guide tube's longitudinal axis. The guide tube is jointed…
MINIMALLY INVASIVE SURGICAL APPARATUS WITH INDEPENDENT IMAGING SYSTEM
Granted: March 13, 2008
Application Number:
20080065098
A surgical instrument and an imaging system are inserted through a guide tube. A distal end of the surgical instrument is movable in all six Cartesian degrees of freedom independently of the guide tube. The imaging system also moves independently of the guide tube. The surgical instrument, the imaging system, and the guide tube are telemanipulatively controlled.
RETROGRADE INSTRUMENT
Granted: March 13, 2008
Application Number:
20080065097
A minimally invasive surgical instrument includes a U-turn mechanism that transmits actuating forces around a U-turn. The U-turn mechanism is coupled between segments of the instrument and has a bend radius that is smaller than flexible arms having a similar cross section diameter. The actuating forces transmitted by the U-turn mechanism are used to move distal components of the instrument, such as an end effector and a wrist mechanism.
MINIMALLY INVASIVE SURGICAL ILLUMINATION
Granted: March 13, 2008
Application Number:
20080064931
A surgical instrument extends through a guide tube in a minimally invasive surgical system. The instrument may be an operative instrument or a camera instrument. One or more illumination devices, such as LEDs, are place on a side of the instrument. A cooling channel in the instrument cools the illumination device(s).
MINIMALLY INVASRIVE SURGERY GUIDE TUBE
Granted: March 13, 2008
Application Number:
20080064927
A guide tube for a minimally invasive surgical system has a single channel that accepts two or more surgical instruments. The channel has two or more bores, and a body segment of each instrument extends through a unique one of the bores. A slot connects two of the bores along the length of the channel. A distal component of one of the instruments is larger than the instrument's bore, and so the component slides through the slot, and in some aspects through some or all of the other bore,…
GUIDE TUBE CONTROL OF MINIMALLY INVASIVE SURGICAL INSTRUMENTS
Granted: March 13, 2008
Application Number:
20080064921
A telemanipulatively controlled guide tube acts as a wrist mechanism for a surgical instrument that extends through the guide tube. The instrument may be removed and replaced with another instrument. In some aspects the instruments are commercial, off the shelf minimally invasive surgical instruments.
