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1. 发明申请

WO2017189272A1 COMPLIANT MECHANISMS HAVING INVERTED TOOL MEMBERS 审中-公开
标题翻译：具有反向工具构件的柔性机构
公开(公告)号：WO2017189272A1
公开(公告)日：2017-11-02
申请号：PCT/US2017/028043
申请日：2017-04-18
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： DEARDEN, Jason , TANNER, Jordan , GRAMES, Clayton , EDMONDSON, Bryce , JENSEN, Brian D. , MAGLEBY, Spencer P. , HOWELL, Larry L.
IPC分类号： A61B34/30 , B25J11/00 , B25J15/00 , B25J9/10
摘要： The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a shaft, a tool member, and a flexure. The shaft has a distal end portion and a proximal end portion, and defines a longitudinal axis. The distal end portion includes a ground portion. The tool member has an engagement portion and an actuation portion. The engagement portion is disposed distally from the actuation portion, and can exert an engagement force on a target structure. The actuation portion receives an actuation force. The flexure has a first end portion coupled to the ground portion of the shaft, and a second end portion coupled to the tool member. The flexure is configured to deform elastically when the actuation force is exerted on the actuation portion of the tool member such that the tool member rotates relative to the shaft.
摘要翻译：这里描述的实施例可以用于各种抓握，切割和操作操作。在一些实施例中，装置包括轴，工具构件和挠曲件。轴具有远端部分和近端部分，并且限定纵向轴线。远端部分包括接地部分。工具构件具有接合部分和致动部分。接合部分设置在远离致动部分的位置，并且可以在目标结构上施加接合力。致动部分接收致动力。挠曲件具有联接到轴的接地部分的第一端部和联接到工具构件的第二端部。挠曲件构造成当致动力施加在工具构件的致动部分上时弹性地变形，使得工具构件相对于轴旋转。

2. 发明申请

WO2016123139A2 ROLLING-CONTACT JOINT MECHANISMS AND METHODS 审中-公开
标题翻译：滚动联系人联系机制和方法
公开(公告)号：WO2016123139A2
公开(公告)日：2016-08-04
申请号：PCT/US2016/014979
申请日：2016-01-26
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： GRAMES, Clayton , STEGER, John Ryan , HOWELL, Larry L. , JENSEN, Brian D. , MAGLEBY, Spencer , TANNER, Jordan
IPC分类号： A61B34/30 , A61B17/285 , A61B17/32 , A61B17/04
CPC分类号： A61B34/71 , A61B17/29 , A61B2017/2927 , A61B2017/2933 , A61B2017/2938 , A61B2017/2943 , A61B2034/305
摘要： The embodiments described herein can advantageously be used in a wide variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first tool member, a second tool member, a base, and an actuator assembly. The first tool member has a first convex surface, and the second tool member has a second convex surface. The first tool member is positioned to rotate relative to the base, and the second tool member is positioned to rotate relative to the base. The base includes a base convex surface. The actuator assembly is configured to maintain the first convex surface in rolling contact with a first portion of the base convex surface. The actuator assembly configured to maintain the second convex surface in rolling contact with a second portion of the base convex surface. Guide surfaces are added to limit disengagement between the base and a tool member.
摘要翻译：这里描述的实施例可有利地用于各种各样的抓握，切割和操纵操作。在一些实施例中，装置包括第一工具构件，第二工具构件，底座和致动器组件。第一工具构件具有第一凸面，第二工具构件具有第二凸面。第一工具构件定位成相对于基座旋转，并且第二工具构件被定位成相对于基座旋转。底座包括底部凸面。致动器组件被配置为保持第一凸起表面与基部凸起表面的第一部分滚动接触。所述致动器组件构造成保持所述第二凸表面与所述基底凸表面的第二部分滚动接触。添加引导表面以限制基部和工具构件之间的脱离。

3. 发明申请

WO2018052939A1 JOINT ASSEMBLIES WITH CROSS-AXIS FLEXURAL PIVOTS 审中-公开
标题翻译：带有横轴弯曲枢轴的接头组件
公开(公告)号：WO2018052939A1
公开(公告)日：2018-03-22
申请号：PCT/US2017/051276
申请日：2017-09-13
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： DEARDEN, Jason , GRAMES, Clayton , HOWELL, Larry L. , JENSEN, Brian D. , MAGLEBY, Spencer P.
IPC分类号： A61B17/00 , A61B34/00
摘要： The embodiments described herein can be used in a variety of grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes a first joint member, a second joint member, and a flexure. The first joint member includes a first connection portion and a contact surface. The second joint member including a second connection portion. A first end portion of the flexure is coupled to the first connection portion, and a second end portion of the flexure is coupled to the second connection portion. The flexure is configured to deform elastically when the first joint member and the second joint member move from a first configuration to a second configuration. When in the first configuration, the central portion of the flexure is spaced apart from the contact portion. When in the second configuration, the central portion of the flexure contacting the contact portion.
摘要翻译：这里描述的实施例可以用于各种抓握，切割和操作操作。在一些实施例中，一种装置包括第一接头构件，第二接头构件和挠曲件。第一接头构件包括第一连接部分和接触表面。第二接头构件包括第二连接部分。挠曲件的第一端部部分联接到第一连接部分，并且挠曲件的第二端部部分联接到第二连接部分。挠曲件构造成当第一连接构件和第二连接构件从第一构造移动到第二构造时弹性地变形。当处于第一构造时，挠曲件的中央部分与接触部分间隔开。当处于第二构型时，挠曲件的中心部分接触接触部分。

4. 发明申请

WO2018118698A1 SAMPLE RETRIEVAL TOOL WITH COMPLIANT RETENTION MEMBER 审中-公开
公开(公告)号：WO2018118698A1
公开(公告)日：2018-06-28
申请号：PCT/US2017/066748
申请日：2017-12-15
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： DEARDEN, Jason , BRUTON, Jared , ZIMMERMAN, Trent , GRAMES, Clayton , PARKINSON, Amelia Mariah , JENSEN, Brian D. , MAGLEBY, Spencer P. , HOWELL, Larry L.
IPC分类号： G01N1/04
摘要： The embodiments described herein can be used in a variety of sample retrieval, grasping, cutting, and manipulating operations. In some embodiments, an apparatus includes an elongated member and a retention member movably coupled to the elongated member. The elongated member includes a cutting portion configured to cut a target sample when moved, and defines an internal volume within which at least a portion of the target sample can be received. The retention member includes an engagement portion configured to move between a first position and a second position when the retention member is actuated. The engagement portion is configured to extend within the internal volume to exert a force on the target sample within the internal volume when the engagement portion is in the second position.

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