Patents by Inventor Anthony K. McGrogan
Anthony K. McGrogan 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: 20170156803Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.Type: ApplicationFiled: August 12, 2015Publication date: June 8, 2017Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Anthony K. McGrogan, Thomas g. Cooper, DAvid Q. Larkin, Kent m. Anderson, Jeffrey d. Browm, Paul E. Lilagan, Michael Ikeda
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Publication number: 20170071628Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.Type: ApplicationFiled: November 23, 2016Publication date: March 16, 2017Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
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Publication number: 20160199138Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.Type: ApplicationFiled: August 14, 2014Publication date: July 14, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: THOMAS G. COOPER, ANTHONY K MCGROGAN, ROBERT E HOLOP
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Publication number: 20160184037Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.Type: ApplicationFiled: August 13, 2014Publication date: June 30, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: THOMAS G. COOPER, ANTHONY K MCGROGAN, ROBERT E. HOLOP, TODD R. SOLOMON, EUGENE F. DUVAL, KENT M. ANDERSON
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Publication number: 20160184035Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.Type: ApplicationFiled: August 14, 2014Publication date: June 30, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: THOMAS G. COOPER, ANTHONY K MCGROGAN, ROBERT E. HOLOP, TODD R. SOLOMON, EUGENE F. DUVAL, KENT M. ANDERSON
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Publication number: 20160184036Abstract: A surgical system (200) includes a surgical instrument (260) that is sensitive to backlash that would adversely affect the transmission of controlled torque and position to the surgical instrument. The surgical instrument (260) is coupled to motors in a surgical instrument manipulator assembly (240) via a mechanical interface. The combination of the mechanical interface and surgical instrument manipulator assembly (240) have low backlash, e.g., less than 0.7 degrees. The backlash is controlled in the surgical instrument manipulator assembly (240). From the drive output disk (545) in the surgical instrument manipulator assembly to the driven disk (964) of the surgical instrument, the mechanical interface has zero backlash for torque levels used in surgical procedures.Type: ApplicationFiled: August 13, 2014Publication date: June 30, 2016Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: TODD R. SOLOMON, ANTHONY K. MCGROGAN, THOMAS G. COOPER
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Patent number: 9320416Abstract: 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.Type: GrantFiled: January 30, 2013Date of Patent: April 26, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Thomas G. Cooper, Anthony K. McGrogan
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Publication number: 20160058512Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.Type: ApplicationFiled: September 5, 2014Publication date: March 3, 2016Inventors: DANIEL H. GOMEZ, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert Elliot Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
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Publication number: 20160045271Abstract: A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.Type: ApplicationFiled: August 12, 2015Publication date: February 18, 2016Inventors: ANTHONY K. MCGROGAN, THOMAS G. COOPER, KENT M. ANDERSON, JEFFREY D. BROWN
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Publication number: 20150305815Abstract: A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.Type: ApplicationFiled: July 1, 2015Publication date: October 29, 2015Inventors: Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad
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Patent number: 9096033Abstract: A sterile adapter, a drape including the adapter, and a method of draping a manipulator arm are provided. In one embodiment, the sterile adapter includes a housing configured to receive a distal face of an instrument manipulator having a plurality of manipulator actuator outputs, and a membrane interface disposed at a distal end of the housing, the membrane interface including a plurality of actuator interfaces. The adapter further includes a pair of supports coupled to the housing, the pair of supports configured to retain a surgical instrument having a plurality of instrument actuator inputs so that the plurality of instrument actuator inputs are positioned opposite to corresponding manipulator actuator outputs with an actuator interface between each corresponding instrument actuator input and manipulator actuator output.Type: GrantFiled: August 12, 2010Date of Patent: August 4, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad
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Publication number: 20150164597Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.Type: ApplicationFiled: November 26, 2014Publication date: June 18, 2015Applicant: Intuitive Surgical Operations, Inc.Inventors: Anthony K. McGrogan, Thomas G. Cooper, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
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Patent number: 8945148Abstract: An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.Type: GrantFiled: August 12, 2010Date of Patent: February 3, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Thomas G. Cooper, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers
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Publication number: 20140326254Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.Type: ApplicationFiled: April 11, 2014Publication date: November 6, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert Elliot Holop, Craig R. Ramstad
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Patent number: 8852208Abstract: Robotic surgical systems and methods of coupling a surgical instrument to a manipulator arm are provided. In one embodiment, a system includes a base; a setup link operably coupled to the base, the setup link locating a remote center of motion for the robotic surgical system; a proximal link operably coupled to the setup link; and a distal link operably coupled to the proximal link. A plurality of instrument manipulators are rotatably coupled to a distal end of the distal link, each of the instrument manipulators including a plurality of actuator outputs distally protruding from a distal end of a frame.Type: GrantFiled: August 12, 2010Date of Patent: October 7, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Daniel H. Gomez, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert Elliot Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
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Publication number: 20140296872Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.Type: ApplicationFiled: June 16, 2014Publication date: October 2, 2014Inventors: THOMAS G. COOPER, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert Elliot Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
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Publication number: 20140275796Abstract: Embodiments of a rotating assistant port device are presented. The assistant port device can be utilized to provide for additional assistant instruments in single port robotic surgery. In some embodiments, the assistant port device can be utilized for skin retraction during single port teleoperated robotic surgery.Type: ApplicationFiled: March 14, 2014Publication date: September 18, 2014Inventors: Anthony K. McGrogan, Craig R. Ramstad, Paul E. Lilagan, Michael Ikeda
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Patent number: 8784435Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.Type: GrantFiled: August 12, 2010Date of Patent: July 22, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert Elliot Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad
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Patent number: 8746252Abstract: A sterile drape, a surgical system with the drape, and a draping method are provided. In one embodiment, a sterile drape includes a plurality of drape pockets, each of the drape pockets including an exterior surface to be adjacent a sterile field for performing a surgical procedure and an interior surface to be adjacent a non-sterile instrument manipulator coupled to a manipulator arm of a robotic surgical system. The drape further includes a plurality of flexible membranes at a distal face of each of the drape pockets for interfacing between outputs of an instrument manipulator and inputs of a respective surgical instrument, and a rotatable seal adapted to couple a proximal opening of each of the drape pockets to a rotatable element at a distal end of the manipulator arm.Type: GrantFiled: August 12, 2010Date of Patent: June 10, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Anthony K. McGrogan, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Craig R. Ramstad
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Publication number: 20130079794Abstract: An entry guide tube and cannula assembly, a surgical system including the assembly, and a method of surgical instrument insertion are provided. In one embodiment, the assembly includes a cannula having a proximal portion that operably couples to an accessory clamp of a manipulator arm, and a distal tubular member coupled to the proximal portion, the tubular member having an opening for passage of at least one instrument shaft. The assembly also includes an entry guide tube rotatably coupled to the proximal portion of the cannula, the entry guide tube including a plurality of channels for passage of a plurality of instrument shafts, wherein the entry guide tube is rotatably driven relative to the proximal portion of the cannula by rotation of at least one instrument shaft about a longitudinal axis of the entry guide tube.Type: ApplicationFiled: August 12, 2010Publication date: March 28, 2013Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Jeffrey D. Brown, Nicola Diolaiti, Eugene F. Duval, Daniel H. Gomez, Robert E. Holop, Paul E. Lilagan, Anthony K. McGrogan, Craig R. Ramstad