US5907664A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Automated endoscope system for optimal positioning
Assignee: Intuitive Surgical Operations Inc
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Filing: 1996-03-11
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Granted: 1999-05-25
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Expires: 2016-03-11
Abstract
Abstract A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.
Inventors
- 👤 Yulun Wang
- 👤 Keith Phillip Laby
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 03:49
CPC Classifications
A; A61; A61B; A61B34/00; A61B34/70; B; B60; B60R; B60R21/00; B60R21/01; B60R21/013; B60R21/0132; A61B17/00; A61B2017/00017; A61B2017/00199; A61B2017/00973; A61B34/20; A61B2034/2046; A61B2034/2059; A61B34/74; A61B2034/742; A61B90/00; A61B90/50; A61B2090/508
Claims Analysis
Total Claims: 29
Claim 1
Independent Claim
131 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector, said articulate arm further having a passive joint located between said end effector and said actuator, said articulate arm for pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.
Claim 2
Independent Claim
131 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector, said articulate arm further having a passive joint located between said end effector and said actuator, said articulate arm for pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.
Claim 3
Dependent Claim
25 words
The system as recited in claim 1, wherein said articulate arm has a second passive joint located between said active joint and said end effector.
Claim 4
Dependent Claim
23 words
The system as recited in claim 1, wherein said end effector has an actuator for spinning the surgical instrument about its longitudinal axis.
Claim 5
Dependent Claim
16 words
The system as recited in claim 1, wherein said active joint is a first rotary motor.
Claim 6
Dependent Claim
16 words
The system as recited in claim 4, wherein said articulate arm includes a second rotary motor.
Claim 7
Dependent Claim
15 words
The system as recited in claim 5, wherein said articulate arm includes a linear motor.
Claim 8
Dependent Claim
31 words
The system as recited in claim 1, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said end effector.
Claim 9
Independent Claim
163 words
A system that allows a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, said articulate arm having a linear motor, a first rotary motor and a second rotary motor for moving said end effector and the surgical instrument, said articulate arm further having a first passive joint and a second passive joint positioned between said end effector and said second rotary motor, said articulate arm pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, computing a movement of said articulate arm based on said input command, for providing an output command to actuate said linear motor, said first rotary motor and said second rotary motor, and for moving the surgical instrument about the pivot point.
Claim 10
Independent Claim
163 words
A system that allows a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, said articulate arm having a linear motor, a first rotary motor and a second rotary motor for moving said end effector and the surgical instrument, said articulate arm further having a first passive joint and a second passive joint positioned between said end effector and said second rotary motor, said articulate arm pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, computing a movement of said articulate arm based on said input command, for providing an output command to actuate said linear motor, said first rotary motor and said second rotary motor, and for moving the surgical instrument about the pivot point.
Claim 11
Dependent Claim
20 words
The system as recited in claim 8, wherein said end effector has a worm gear that spins the surgical instrument.
Claim 12
Dependent Claim
40 words
The system as recited in claim 9, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said linear motor, each first rotary motor and said second rotar motor from said passive joint.
Claim 13
Independent Claim
110 words
A system a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, comprising: an articulate arm having an end effector for holding the surgical instrument, an active joint for moving said end effector, and an actuator for spinning the surgical instrument; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said active joint and said actuator, and for moving the surgical instrument about the pivot point.
Claim 14
Independent Claim
110 words
A system a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, comprising: an articulate arm having an end effector for holding the surgical instrument, an active joint for moving said end effector, and an actuator for spinning the surgical instrument; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said active joint and said actuator, and for moving the surgical instrument about the pivot point.
Claim 15
Dependent Claim
30 words
The system as recited in claim 11, wherein said articulate arm has a first passive joint and a second passive joint located between said active joint and said end effector.
Claim 16
Dependent Claim
16 words
The system as recited in claim 12, wherein said active joint is a first rotary motor.
Claim 17
Dependent Claim
16 words
The system as recited in claim 13, wherein said articulate arm includes a second rotary motor.
Claim 18
Dependent Claim
15 words
The system as recited in claim 14, wherein said articulate arm includes a linear motor.
Claim 19
Dependent Claim
31 words
The system as recited in claim 15, wherein said articulate arm includes a clutch and an input button that allow the surgeon to disengage said active joint from said passive joint.
Claim 20
Dependent Claim
14 words
The system as recited in claim 11, wherein said actuator is a worm gear.
Claim 21
Independent Claim
132 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector and the surgical instrument about the pivot point, said articulate arm having a clutch and an input button for allowing the surgeon to disengage said actuator from said end effector; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said actuator and for moving the surgical instrument about the pivot point.
Claim 22
Independent Claim
132 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and an actuator for moving said end effector and the surgical instrument about the pivot point, said articulate arm having a clutch and an input button for allowing the surgeon to disengage said actuator from said end effector; a first input device for receiving an input command from the surgeon; and a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, for providing an output command to actuate said actuator and for moving the surgical instrument about the pivot point.
Claim 23
Dependent Claim
30 words
The system as recited in claim 18, wherein said articulate arm has a first passive joint and a second passive joint located between said active joint and said end effector.
Claim 24
Dependent Claim
19 words
The system as recited in claim 19, wherein said end effector has an actuator that spins the surgical instrument.
Claim 25
Dependent Claim
16 words
The system as recited in claim 20, wherein said active joint is a first rotary motor.
Claim 26
Dependent Claim
16 words
The system as recited in claim 21, wherein said articulate arm includes a second rotary motor.
Claim 27
Dependent Claim
15 words
The system as recited in claim 22, wherein said articulate arm includes a linear motor.
Claim 28
Independent Claim
135 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and a plurality of actuators for moving said end effector, said articulate arm further having a passive joint located between said end effector and said plurality of actuators, said passive joint for pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.
Claim 29
Independent Claim
135 words
A system for allowing a surgeon to control a surgical instrument that is inserted through an incision of a patient, wherein the incision defines a pivot point, the system comprising: an articulate arm having an end effector for holding the surgical instrument, and a plurality of actuators for moving said end effector, said articulate arm further having a passive joint located between said end effector and said plurality of actuators, said passive joint for pivoting the surgical instrument about the pivot point; a first input device for receiving an input command from the surgeon; a controller for receiving said input command, for computing a movement of said articulate arm based on said input command, and for providing an output command to actuate said active joint and for moving the surgical instrument about the pivot point.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-05-24 | 2002-11-23 | 2003-05-25 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-05-24 | 2006-11-23 | 2007-05-25 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-05-24 | 2010-11-23 | 2011-05-25 | $7700.00 | Window Closed / Lapsed |