Patents by Inventor S. Christopher Anderson
S. Christopher Anderson has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Publication number: 20120190920Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.Type: ApplicationFiled: March 29, 2012Publication date: July 26, 2012Applicant: Intuitive Surgical Operations, Inc.Inventors: Christopher J. Hasser, Nitish Swarup, Thomas G. Cooper, S. Christopher Anderson
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Patent number: 8216250Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.Type: GrantFiled: December 31, 2009Date of Patent: July 10, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce M. Schena, Michael Prindiville, Thomas G. Cooper, William A. Burbank
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Patent number: 8202278Abstract: A sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes an integral cuff including a permanently turned-up fold of the exterior and interior surfaces at an open end of the cavity and a marker on the permanently turned-up fold designating a sterile side and a non-sterile side of the drape.Type: GrantFiled: April 15, 2010Date of Patent: June 19, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Joseph P. Orban, III, Lisa W. Heaton, S. Christopher Anderson, Thomas G. Cooper
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Patent number: 8182469Abstract: A surgical accessory clamp, method of use, and a robotic surgical system including the clamp are disclosed. A surgical accessory may be attached and removed from a manipulator arm during a surgical procedure without requiring the use of an intermediate sterile accessory clamp, thus removing the need for a detachable accessory mount or adaptor that needs cleaning and sterilization and allowing for greater efficiency and cost-effectiveness. The accessory clamp further allows for easy removal and attachment of instruments, tools, or accessories to the robotic surgical system without breach of sterility. In one embodiment, an accessory clamp includes a base for coupling to a distal end of a manipulator arm; two clamp jaws adapted to receive a surgical accessory, each of the clamp jaws rotatably coupled to the base and configured to pivot relative to one another; a sterile drape portion over the two clamp jaws; and a lever portion capable of actuating the two clamp jaws into an open position or a closed position.Type: GrantFiled: September 30, 2005Date of Patent: May 22, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: S. Christopher Anderson, Thomas G Cooper, Bruce Schena, William Burbank, Margaret M Nixon, Alan Loh
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Patent number: 8142421Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.Type: GrantFiled: May 19, 2010Date of Patent: March 27, 2012Assignee: Intuitive Surgical Operations Inc.Inventors: Thomas G. Cooper, Daniel T. Wallace, Stacey Chang, S. Christopher Anderson, Dustin Williams, Scott E. Manzo
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Patent number: 8105338Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.Type: GrantFiled: March 4, 2010Date of Patent: January 31, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: S. Christopher Anderson, Joseph P. Orban, III, Bruce Michael Schena, Thomas G. Cooper, Roman L. Devengenzo
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Publication number: 20110313405Abstract: A surgical instrument shaft roll drive mechanism includes an electrical conductor that electrically couples the surgical instrument shaft to an electrical connector. The electrical conductor is routed adjacent to a roll drive tendon between a roll drive input capstan and a roll drive output capstan on the shaft. The electrical conductor allows an electrically conductive instrument shaft to be electrically coupled to surgical equipment for use, e.g., as a shield for electrocautery equipment.Type: ApplicationFiled: November 12, 2010Publication date: December 22, 2011Applicant: Intuitive Surgical Operations. Inc.Inventors: S. CHRISTOPHER ANDERSON, Thomas G. Cooper
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Publication number: 20110277579Abstract: A cable guide re-orders a plurality of cables. A first guide plate has a plurality of first guide holes that receive a plurality of cables in a first order. A second guide plate has a plurality of second guide holes that receive the plurality of cables in a different second order. An intermediate guide plate is located between the first and second guide plates. The intermediate guide plate has a plurality of intermediate guide holes. Each of the intermediate guide holes receives one of the plurality of cables and causes a change of direction in the cable to facilitate the change from the first to the second order. The intermediate guide plate may further include cable passages to allow some cables to pass through without changing direction. There may be more than one intermediate guide plate. The cables may change from a generally linear to a generally circular arrangement.Type: ApplicationFiled: May 14, 2010Publication date: November 17, 2011Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: S. Christopher Anderson, Thomas G. Cooper
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Publication number: 20110218551Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.Type: ApplicationFiled: May 20, 2011Publication date: September 8, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Joseph P. Orban, III, Bruce Schena, Alan Loh, S. Christopher Anderson
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Patent number: 7963913Abstract: An instrument interface of a robotic manipulator and a surgical system including the instrument interface are provided. In one embodiment, the instrument interface includes a spring-loaded input for providing axial load and torque to a sterile adaptor capable of operably coupling an instrument. In another embodiment, a robotic surgical manipulator system includes a manipulator assembly, including a base link operably coupled to a distal end of a manipulator arm, and a carriage link movably coupled to the base link along a lengthwise axis, the carriage link including an integrated instrument interface. The system further includes an instrument operably coupled to the carriage link via the instrument interface, and a processor operably coupled to the manipulator assembly for sensing presence of the instrument.Type: GrantFiled: December 20, 2006Date of Patent: June 21, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Thomas G. Cooper, Joseph P. Orban, III, Bruce Schena, Alan Loh, S. Christopher Anderson
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Publication number: 20110125166Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector.Type: ApplicationFiled: February 3, 2011Publication date: May 26, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, S. Christopher Anderson
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Publication number: 20110118755Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector.Type: ApplicationFiled: November 17, 2010Publication date: May 19, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, S. Christopher Anderson
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Publication number: 20110028991Abstract: An articulate minimally invasive surgical instrument with a flexible wrist to facilitate the safe placement and provide visual verification of the ablation catheter or other devices in Cardiac Tissue Ablation (CTA) treatments is described. In one embodiment, the instrument is an endoscope which has an elongate shaft, a flexible wrist at the working end of the shaft, and a vision scope lens at the tip of the flexible wrist. The flexible wrist has at least one degree of freedom to provide the desired articulation. It is actuated and controlled by a drive mechanism located in the housing at the distal end of the shaft. The articulation of the endoscope allows images of hard-to-see places to be taken for use in assisting the placement of the ablation catheter on the desired cardiac tissue.Type: ApplicationFiled: September 29, 2010Publication date: February 3, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Michael H. Ikeda, David J. Rosa, Thomas G. Cooper, S. Christopher Anderson
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Patent number: 7862580Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. In one embodiment, a minimally invasive surgical instrument comprises an elongate shaft having a working end, a proximal end, and a shaft axis between the working end and the proximal end; and an end effector. A wrist member has a flexible tube including an axis extending through an interior surrounded by a wall. The wall of the flexible tube includes a plurality of lumens oriented generally parallel to the axis of the flexible tube. The wrist member has a proximal portion connected to the working end of the elongate shaft and a distal portion connected to the end effector.Type: GrantFiled: April 11, 2007Date of Patent: January 4, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, S. Christopher Anderson
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Publication number: 20100228284Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.Type: ApplicationFiled: May 19, 2010Publication date: September 9, 2010Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Daniel T. Wallace, Stacey Chang, S. Christopher Anderson, Dustin Williams, Scott Manzo
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Publication number: 20100200002Abstract: An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.Type: ApplicationFiled: April 15, 2010Publication date: August 12, 2010Applicant: Intuitive Surgical Operations, Inc.Inventors: Joseph Orban III, Lisa Heaton, S. Christopher Anderson, Thomas G. Cooper
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Publication number: 20100174293Abstract: A sterile drape with integrated sterile adaptor, a telerobotic surgical system, and method of use are provided for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals.Type: ApplicationFiled: December 31, 2009Publication date: July 8, 2010Applicant: Intuitive Surgical, Inc.Inventors: Joseph P. Orban, III, S. Christopher Anderson, Roman Devengenzo, Bruce Schena, Michael Prindiville, Thomas G. Cooper, William Burbank
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Publication number: 20100163057Abstract: A sterile adaptor, a sterile drape with the integrated sterile adaptor, and a telerobotic surgical system including the sterile drape with a drape interface are provided. The adaptor, drape, and system allow for draping portions of a telerobotic surgical system to maintain a sterile barrier between the sterile surgical field and the non-sterile robotic system while also providing an interface for transferring mechanical and electrical energy and signals between a robotic arm and a surgical instrument in the sterile field.Type: ApplicationFiled: March 4, 2010Publication date: July 1, 2010Applicant: Intuitive Surgical, Inc.Inventors: S. Christopher Anderson, Joseph P. Orban, III, Bruce Schena, Thomas G. Cooper, Roman Devengenzo
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Patent number: 7736356Abstract: The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism.Type: GrantFiled: November 1, 2004Date of Patent: June 15, 2010Assignee: Intutive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Stacey Chang, S. Christopher Anderson, Dustin Williams, Scott Manzo, Daniel T. Wallace
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Patent number: 7727244Abstract: An improved sterile drape, system, and method for draping portions of a telerobotic surgical system are provided. In one embodiment, a sterile drape includes an exterior surface adjacent to a sterile field for performing a surgical procedure, and an interior surface forming a cavity for receiving the non-sterile portion of a robotic surgical system, such as a manipulator. The drape further includes a fastener coupled to the exterior surface for securing the sterile drape to the non-sterile portion of the robotic surgical system while reducing the volume of the sterile drape. Advantageously, the drape allows for quick and simple installation and increases visualization of the patient by reducing the size of the drape with more form fitting features, while allowing for freedom of movement of the manipulator.Type: GrantFiled: September 30, 2005Date of Patent: June 1, 2010Assignee: Intuitive Surgical Operation, Inc.Inventors: Joseph Orban, III, Lisa Heaton, S. Christopher Anderson, Thomas G Cooper