Patents by Inventor William A. McDonald, II
William A. McDonald, II 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: 11857284Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: GrantFiled: May 17, 2021Date of Patent: January 2, 2024Assignee: INTUITIVE SURGICAL OPERATIONS, INC.Inventors: Grant M. Kadokura, William A. McDonald, II
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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: 20210267701Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: ApplicationFiled: May 17, 2021Publication date: September 2, 2021Inventors: Grant M. Kadokura, William A. McDonald, II
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Patent number: 11013568Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: GrantFiled: April 10, 2020Date of Patent: May 25, 2021Assignee: Intuitive Surgical Operations, Inc.Inventors: Grant M. Kadokura, William A. McDonald, II
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Patent number: 10898189Abstract: A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw way from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cType: GrantFiled: October 31, 2016Date of Patent: January 26, 2021Assignee: Intuitive Surgical Operations, Inc.Inventor: William A. McDonald, II
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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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Publication number: 20200237465Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: ApplicationFiled: April 10, 2020Publication date: July 30, 2020Inventors: Grant M. Kadokura, William A. McDonald, II
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Patent number: 10617483Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: GrantFiled: October 12, 2017Date of Patent: April 14, 2020Assignee: Intuitive Surgical Operations, Inc.Inventors: Grant M. Kadokura, William A. McDonald, II
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Publication number: 20180317915Abstract: A surgical instrument is provided comprising: a first jaw having a distal end and a proximal end wherein the proximal end of the first jaw is attached to a lever arm that includes a levering cam slot having a proximal portion and a distal portion; a second jaw having a distal end and a proximal end wherein the proximal end of the second jaw is secured to a base that includes a linear cam slot aligned with a longitudinal axis of the second jaw axis and having a proximal portion and a distal portion; a pivot rotatably mounting the first jaw to the second jaw, wherein a pivot axis extends between the first jaw and the lever arm; a cam pin configured to extend through and engage the levering cam slot and the linear cam slot; a linear drive member operatively coupled to drive the cam pin to follow the linear cam slot; wherein the cam pin imparts a lever force upon the lever arm that rotates the first jaw way from the second jaw when the cam pin contacts the distal portion of the levering cam slot and wherein the cType: ApplicationFiled: October 31, 2016Publication date: November 8, 2018Inventor: William A. MCDONALD, II
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Publication number: 20180104011Abstract: A surgical instrument includes: an adjustable end effector; an elongated instrument shaft defining an internal bore; and a drive assembly including a housing coupled to an end of the instrument shaft and an input device configured to facilitate controlled adjustment of the end effector via a drive cable extending along the bore of the instrument shaft. The input device includes: a drive shaft attached to a first portion of the drive cable, the drive shaft including an upstanding stem portion having a radially tapered outer surface; and a capstan attached to a second portion of the drive cable, the capstan defining an internal bore sized to receive the stem portion of the drive shaft, at least a lower portion of the internal bore having a radially tapered inner surface. The capstan and drive shaft are configured to transition from a disengaged state to an engaged state.Type: ApplicationFiled: October 12, 2017Publication date: April 19, 2018Inventors: Grant M. Kadokura, William A. McDonald, 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: 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