Patents by Inventor TODD E. MURPHY
TODD E. MURPHY 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: 20230372033Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.Type: ApplicationFiled: April 19, 2023Publication date: November 23, 2023Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 11660152Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.Type: GrantFiled: August 20, 2020Date of Patent: May 30, 2023Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Publication number: 20200382921Abstract: Minimally invasive surgical methods employ an offset drive shaft to actuate an end effector. A minimally invasive surgical method includes introducing an end effector to an internal surgical site. The end effector includes an end effector base that is coupled to the instrument shaft via a wrist. An end effector articulation mechanism is operated to reorient the end effector base relative to the instrument shaft. A surgical task is performed by operating a motor to rotate an offset drive shaft relative to the instrument shaft to actuate the end effector.Type: ApplicationFiled: August 20, 2020Publication date: December 3, 2020Applicant: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 10779896Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.Type: GrantFiled: August 15, 2017Date of Patent: September 22, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 10292767Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.Type: GrantFiled: July 17, 2015Date of Patent: May 21, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: William A. Burbank, Gregory W. Dachs, II, Todd E. Murphy
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Patent number: 10228058Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.Type: GrantFiled: November 17, 2015Date of Patent: March 12, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Grant Duque, Todd E. Murphy, William A. Burbank, Gregory W. Dachs, II
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Publication number: 20170367775Abstract: Mechanisms, assemblies, systems, tools, and methods include an offset drive shaft within an independently rotating member. An example method of transmitting torque through an offset drive shaft routed within a rotatable main shaft includes supporting a main shaft to rotate relative to a base so that the main shaft rotates about a main shaft rotational axis. A drive shaft is supported to rotate relative to the main shaft so that the drive shaft rotates about a drive shaft rotational axis that is offset from the main shaft rotational axis. The drive shaft is engaged with a drive feature having a drive feature rotational axis that is fixed relative to the base as the main shaft rotates. The main shaft is rotated relative to the base. The drive feature is rotated relative to the main shaft so as to rotate the drive shaft relative to the main shaft.Type: ApplicationFiled: August 15, 2017Publication date: December 28, 2017Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 9763740Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.Type: GrantFiled: December 30, 2013Date of Patent: September 19, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Publication number: 20160067002Abstract: Sealing assemblies and methods are disclosed for sealing a surgical instrument having an internal drive shaft subject to lateral displacement. A sealing assembly includes a rigid portion shaped to interface with an instrument shaft of the surgical instrument. A laterally oriented slot is open at a radially perimeter location and configured to receive an o-ring seal via the perimeter location. Apertures are disposed on opposing sides of the slot and open to the slot. The apertures are configured to receive the drive shaft there through and are larger than the drive shaft to accommodate lateral displacement of the drive shaft. The slot includes opposing internal sides spaced to interface with opposed axial surfaces of the o-ring seal. The seal inhibits axial transmission of an insufflated gas and/or bodily fluids while accommodating lateral displacement of the drive shaft.Type: ApplicationFiled: November 17, 2015Publication date: March 10, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Grant Duque, Todd E. Murphy, William A. Burbank, Gregory W. Dachs, II
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Publication number: 20160015462Abstract: Surgical tools having a two degree-of-freedom wrist, wrist articulation by linked tension members, mechanisms for transmitting torque through an angle, and minimally invasive surgical tools incorporating these features are disclosed. An elongate intermediate wrist member is pivotally coupled with a distal end of an instrument shaft so as to rotate about a first axis transverse to the shaft, and an end effector body is pivotally coupled with the intermediate member so as to rotate about a second axis that is transverse to the first axis. Linked tension members interact with attachment features to articulate the wrist. A torque-transmitting mechanism includes a coupling member, coupling pins, a drive shaft, and a driven shaft. The drive shaft is coupled with the driven shaft so as to control the relative orientations of the drive shaft, the coupling member, and the driven shaft.Type: ApplicationFiled: July 17, 2015Publication date: January 21, 2016Applicant: Intuitive Surgical Operations, Inc.Inventors: William A. Burbank, GREGORY W. W. DACHS, II, TODD E. MURPHY
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Publication number: 20140194894Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.Type: ApplicationFiled: December 30, 2013Publication date: July 10, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 8640788Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.Type: GrantFiled: November 12, 2010Date of Patent: February 4, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, II, Bruce Michael Schena
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Patent number: 8540748Abstract: A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.Type: GrantFiled: September 29, 2008Date of Patent: September 24, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd E. Murphy, Margaret M. Nixon
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Publication number: 20110118754Abstract: Mechanisms, assemblies, systems, tools, and methods incorporating the use of an offset drive shaft within an independently rotating member are provided. An example mechanism includes a base and a main shaft mounted to rotate relative to the base, a first drive shaft mounted inside the main shaft, and a first drive feature engaged with the first drive shaft. The main shaft includes a proximal end, a distal end, and a main shaft rotational axis defined therebetween. The first drive shaft is offset from the main shaft rotational axis. A first drive feature rotational axis is defined for the first drive feature and is fixed relative to the base as the main shaft rotates. The first drive feature rotates the first drive shaft.Type: ApplicationFiled: November 12, 2010Publication date: May 19, 2011Applicant: Intuitive Surgical Operations, Inc.Inventors: Gregory W. Dachs, II, Todd E. Murphy, William A. Burbank, William A. McDonald, Bruce Michael Schena
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Publication number: 20100004663Abstract: A link is positioned to pivot at the distal end of a surgical instrument shaft. The link includes a pulley portion. A first control cable that pivots the link in one direction extends out of the surgical instrument shaft and crosses the width of the instrument in a first crossing direction. The first control cable is then routed around the pulley portion of the link in a first circumferential direction. Similarly, a second control cable that pivots the link in the opposite direction extends out of the surgical instrument shaft and crosses the width of the instrument in a second crossing direction. The second control cable is then routed around the pulley portion of the link in a second circumferential direction that is opposite the first circumferential direction.Type: ApplicationFiled: September 29, 2008Publication date: January 7, 2010Applicant: INTUITIVE SURGICAL, INC.Inventors: TODD E. MURPHY, Margaret M. Nixon