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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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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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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Patent number: 9261172Abstract: 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: December 15, 2006Date of Patent: February 16, 2016Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20150250549Abstract: 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: September 10, 2015Inventor: Todd R. Solomon
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Publication number: 20150238267Abstract: 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: ApplicationFiled: May 11, 2015Publication date: August 27, 2015Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
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Patent number: 9068628Abstract: 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: June 30, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Todd R. Solomon, Thomas G. Cooper
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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: 9050119Abstract: 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: December 20, 2006Date of Patent: June 9, 2015Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Roman L. Devengenzo, Todd R. Solomon, Thomas G. Cooper
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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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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: 20140094824Abstract: 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 24, 2013Publication date: April 3, 2014Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon
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Patent number: 8562594Abstract: 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: July 31, 2012Date of Patent: October 22, 2013Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon
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Publication number: 20130239392Abstract: 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: ApplicationFiled: May 8, 2013Publication date: September 19, 2013Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20130239735Abstract: 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: ApplicationFiled: May 8, 2013Publication date: September 19, 2013Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20130244820Abstract: 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: ApplicationFiled: May 8, 2013Publication date: September 19, 2013Applicant: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Todd R. Solomon, Thomas G. Cooper
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Publication number: 20130030448Abstract: 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: July 31, 2012Publication date: January 31, 2013Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon
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Patent number: 8256319Abstract: 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: October 3, 2011Date of Patent: September 4, 2012Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon
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Publication number: 20120083802Abstract: 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: October 3, 2011Publication date: April 5, 2012Applicant: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon
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Patent number: 8062288Abstract: 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: July 8, 2009Date of Patent: November 22, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Thomas G. Cooper, Todd R. Solomon