Patents by Inventor Todd R. Solomon
Todd R. Solomon 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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Patent number: 10624672Abstract: 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: September 28, 2017Date of Patent: April 21, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Daniel H. Gomez, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
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Patent number: 10595948Abstract: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.Type: GrantFiled: May 26, 2015Date of Patent: March 24, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20200015919Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.Type: ApplicationFiled: September 20, 2019Publication date: January 16, 2020Inventors: Thomas G. Cooper, Todd R. Solomon
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Patent number: 10449011Abstract: Medical, surgical, and/or robotic devices and systems often including offset remote center parallelogram manipulator linkage assemblies which constrains a position of a surgical instrument during minimally invasive robotic surgery are disclosed. The improved remote center manipulator linkage assembly advantageously enhances the range of instrument motion while at the same time reduces the overall complexity, size, and physical weight of the robotic surgical system.Type: GrantFiled: September 24, 2013Date of Patent: October 22, 2019Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Coooper, Todd R. Solomon
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Publication number: 20190298461Abstract: A surgical system includes a preload assembly in a surgical instrument surgical instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes a surgical instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the surgical instrument manipulator assembly. When the preload assembly configures the surgical instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the surgical instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical surgical instrument removal lockout.Type: ApplicationFiled: June 21, 2017Publication date: October 3, 2019Inventors: Robert E. Holop, Todd R. Solomon
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Publication number: 20190223969Abstract: A surgical system includes an insertion assembly and a drape shroud assembly mounted on the insertion assembly. When a sleeve of a surgical drape draping the insertion assembly is fastened to the drape shroud assembly, the sleeve is divided into two pockets. Instead of managing one long tube, the management problem of the drape sleeve is reduced to managing a plurality of shorter tubes. Shorter tubes make it easier for excess sleeve material to accordion as the tube length shortens instead of possibly bowing out and contacting a part of the insertion assembly or some other part of the surgical system.Type: ApplicationFiled: June 21, 2017Publication date: July 25, 2019Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Craig R. RAMSTAD, Anthony K. McGROGAN, Todd R. SOLOMON
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Publication number: 20190167369Abstract: A cable tensioning system of a surgical system comprises a base, an arm, and a moveable idler pulley rotatably coupled to a first end of the arm and positioned between a first pulley system and a second pulley system. A closed loop cable drive extends between the first pulley system and the second pulley system, and the closed loop cable drive passes over the moveable idler pulley. The cable tensioning system also comprises a translation mechanism slidably coupling a second end of the arm to the base. The translation mechanism is configured to move the arm relative to the base along a linear path between a first position and a second position such that the moveable idler pulley is moved away from at least one of the first pulley system or the second pulley system to control a tension in the closed loop cable drive.Type: ApplicationFiled: January 17, 2019Publication date: June 6, 2019Inventors: Roman L. Devengenzo, Thomas G. Cooper, Todd R. Solomon
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Patent number: 10182876Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.Type: GrantFiled: October 31, 2016Date of Patent: January 22, 2019Assignee: INTUITIBE SURGICAL OPERATIONS, INC.Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
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Publication number: 20180353204Abstract: 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: July 31, 2018Publication date: December 13, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INCInventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E, Holop, Anthony K. McGrogan, Craig R. Ramstad, Thoeodore W, Rogers
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Publication number: 20180214176Abstract: 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: March 29, 2018Publication date: August 2, 2018Applicant: INTUITIVE SURGICAL OPERATIONS, INCInventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Thoeodore W. Rogers
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Patent number: 10022193Abstract: 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: GrantFiled: August 14, 2014Date of Patent: July 17, 2018Assignee: 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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Patent number: 9955996Abstract: 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: November 26, 2014Date of Patent: May 1, 2018Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Thomas G. Cooper, Eugene F. F. Duval, Nicola Diolaiti, Daniel H. Gomez, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers
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Publication number: 20180042688Abstract: A termination assembly of a cabling system in a robotic surgical manipulator comprises a block including first and second cable pathways sized for receipt of a first cable. The first cable pathway includes a first retainer sized to prevent passage of a first fitting coupled to the first cable. The termination assembly also includes a first support coupled to the block and around which the first cable is routed.Type: ApplicationFiled: October 31, 2016Publication date: February 15, 2018Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
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Publication number: 20180014852Abstract: 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 28, 2017Publication date: January 18, 2018Applicant: Intuitive Surgical Operations, Inc.Inventors: Daniel H. Gomez, Jeffrey D. Brown, Thomas G. Cooper, Eugene F. Duval, Robert E. Holop, Anthony K. McGrogan, Craig R. Ramstad, Theodore W. Rogers, Todd R. Solomon
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Patent number: 9803727Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.Type: GrantFiled: May 8, 2013Date of Patent: October 31, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Thomas G. Cooper
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Patent number: 9801654Abstract: 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: September 5, 2014Date of Patent: October 31, 2017Assignee: 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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Patent number: 9797484Abstract: In one embodiment of the invention, a robotic arm is provided including a linkage assembly and a strap drive train. The linkage assembly includes first, second, third, and fourth links pivotally coupled in series together at first, second, and third joints to define a parallelogram with an insertion axis. The strap drive train includes first and second sets of straps coupled to the linkage assembly. As the linkage assembly is moved about a pitch axis, the first set of straps ensures the third link maintains the same angle relative to the first link, and the first and second set of straps ensures the fourth link maintains the same angle relative to the second link.Type: GrantFiled: May 8, 2013Date of Patent: October 24, 2017Assignee: Intuitive Surgical Operations, Inc.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20170143425Abstract: In one embodiment, a method is disclosed for a robotic arm. The method includes pitching a linkage assembly having a plurality of links coupled in series together to constrain movement of a tool along an insertion axis; and enabling movement of the linkage assembly about a pitch axis with a strap drive-train coupled thereto using an electro-mechanical strap stack routed between a first link and a second link. The electro-mechanical strap stack includes a drive strap coupled to the linkage. The drive strap moves the linkage assembly.Type: ApplicationFiled: May 26, 2015Publication date: May 25, 2017Inventor: Todd R. Solomon
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Patent number: 9486288Abstract: An apparatus, system, and method for setting, maintaining, and adjusting a cable tension in a telerobotic surgical system are provided. A cable tensioning apparatus includes, in one example, an arm, a pulley rotatably coupled to the arm, and a base operably coupled to the arm, the base including a translation mechanism for changing the position of the pulley to control a tension of a cable movable along the pulley. A termination block includes, in one example, a block including two cable pathways with each cable pathway having a retaining means for a ball fitting, and a support for moving a cable along the two cable pathways, the cable including a ball fitting in each of the cable pathways.Type: GrantFiled: May 11, 2015Date of Patent: November 8, 2016Assignee: Intuitive Surgical Operations, Inc.Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
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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