US Patent No: 7,121,781

Number of patents in Portfolio can not be more than 2000

Surgical instrument with a universal wrist

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Abstract

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A robotically controlled endoscopic medical instrument that includes an end effector coupled to a wrist. The wrist provides two separate degrees of freedom about the same pivot point. The end effector can be moved and actuated by pins. The pins allow for a compact minimally invasive medical instrument that has a wrist with two degrees of freedom.

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First Claim

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Patent Owner(s)

Patent OwnerAddressTotal Patents
INTUITIVE SURGICAL OPERATIONS, INC.SUNNYVALE, CA593
COMPUTER MOTIONGOLETA, CA4

International Classification(s)

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  • [Patents Count]

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Sanchez, Dan Santa Barbara, CA 12 302

Cited Art Landscape

Patent Info (Count) # Cites Year
 
Hexcel Corporation (1)
6,196,081 Systems and methods employing a rotary track for machining and manufacturing 52 1999
 
Other [Check patent profile for assignment information] (2)
* 4,604,016 Multi-dimensional force-torque hand controller having force feedback 271 1983
5,239,883 Modular robot wrist 27 1991
 
FANUC ROBOTICS NORTH AMERICA, INC. (1)
6,425,177 Programmable positioner for the stress-free assembly of assemblies 16 2000
 
INRIA INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE DOMAINE DE VOLUCCAU - B.P. (1)
5,053,687 Articulated device, for use in particular in robotics 72 1989
 
SUZUKI MOTOR CORPORATION (1)
6,270,453 Bending device for examining insertion tube 121 1999
 
SRI INTERNATIONAL (1)
5,808,665 Endoscopic surgical instrument and method for use 396 1996
 
SYMBIOSIS CORPORATION (1)
6,296,635 Endoscopic robotic surgical tools and methods 33 1999
 
INTUITIVE SURGICAL, INC. (9)
5,792,135 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 587 1997
5,797,900 Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 278 1997
6,102,850 Medical robotic system 230 1997
6,132,441 Rigidly-linked articulating wrist with decoupled motion transmission 121 1999
6,424,885 Camera referenced control in a minimally invasive surgical apparatus 202 1999
6,394,998 Surgical tools for use in minimally invasive telesurgical applications 202 1999
6,312,435 Surgical instrument with extended reach for use in minimally invasive surgery 192 1999
6,699,235 Platform link wrist mechanism 230 2002
6,685,698 Roll-pitch-roll surgical tool 93 2003
 
INTUITIVE SURGICAL OPERATIONS, INC. (1)
6,331,181 Surgical robotic tools, data architecture, and use 480 1999
 
GMF Robotics Corporation (1)
* 4,805,477 Multiple joint robot part 29 1987
 
TOYODA KOKI KABUSHIKI KAISHA (1)
5,715,729 Machine tool having parallel structure 77 1995
 
JUNGHEINRICH UNTERNEHMENSVERWALTUNG KG (1)
* 4,499,790 Swivel head for industrial robots 20 1982
 
MACDONALD, DETTWILER AND ASSOCIATES INC. (1)
5,740,699 Wrist joint which is longitudinally extendible 60 1995
 
ZIMMER SPINE, INC. (2)
5,454,827 Surgical instrument 477 1994
5,938,678 Surgical instrument 104 1997
 
AGILITY ROBOTICS, INC. (1)
* 4,723,460 Robot wrist actuator 25 1987
 
MOORE, RUSSELL (1)
6,330,837 Parallel mechanism 90 2000
 
GEORGIA TECH RESEARCH CORPORATION (1)
* 4,739,241 Spherical motor particularly adapted for robotics 44 1986
 
VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY (1)
* 5,699,695 Spatial, parallel-architecture robotic carpal wrist 25 1996
 
Coactive Drive Corporation (1)
6,307,285 Actuator with repulsive magnetic forces 68 2000
 
KARL STORZ GMBH & CO. KG (1)
5,474,571 Medical forceps with jaws which first tilt and then open 104 1994
* Cited By Examiner

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
NEUROARM SURGICAL LTD. (3)
8,560,118 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis 13 2008
* 2010/0198,402 METHODS, DEVICES, AND SYSTEMS FOR NON-MECHANICALLY RESTRICTING AND/OR PROGRAMMING MOVEMENT OF A TOOL OF A MANIPULATOR ALONG A SINGLE AXIS 16 2008
9,131,986 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis 0 2013
 
MACDONALD, DETTWILER AND ASSOCIATES INC. (2)
8,444,631 Surgical manipulator 7 2008
9,333,041 Surgical manipulator 0 2013
 
MacDonald Dettwiller and Associates Inc. (1)
8,491,603 Surgical manipulator 1 2007
 
COMPUTER MOTION (2)
8,864,794 Surgical instrument with a universal wrist 0 2006
* 2007/0066,986 Surgical instrument with a universal wrist 3 2006
 
AGILE ENDOSURGERY, INC. (1)
8,915,940 Surgical tool 0 2011
 
VIRTUAL INCISION CORPORATION (4)
7,492,116 Robot for surgical applications 28 2007
8,968,332 Magnetically coupleable robotic surgical devices and related methods 0 2007
8,834,488 Magnetically coupleable robotic surgical devices and related methods 0 2007
7,772,796 Robotic devices with agent delivery components and related methods 14 2007
 
INTUITIVE SURGICAL OPERATIONS, INC. (15)
9,144,452 Robotic surgical tool for pluggable end-effectors 0 2010
8,827,996 Methods for pluggable end-effectors of robotic surgical instruments 3 2010
8,105,320 Methods for replaceable end-effector cartridges 12 2010
* 2010/0198,218 REPLACEABLE END-EFFECTOR CARTRIDGES WITH CAM MECHANISMS 20 2010
* 2010/0198,231 METHODS FOR REPLACEABLE END-EFFECTOR CARTRIDGES 13 2010
* 2010/0191,250 ROBOTIC SURGICAL TOOL FOR PLUGGABLE END-EFFECTORS 1 2010
* 9,259,275 Wrist articulation by linked tension members 0 2010
8,876,857 End effector with redundant closing mechanisms 3 2010
8,852,174 Surgical tool with a two degree of freedom wrist 3 2010
8,640,788 Motor interface for parallel drive shafts within an independently rotating member 5 2010
* 2011/0118,707 WRIST ARTICULATION BY LINKED TENSION MEMBERS 14 2010
* 2011/0118,778 END EFFECTOR WITH REDUNDANT CLOSING MECHANISMS 75 2010
* 2011/0118,709 SURGICAL TOOL WITH A TWO DEGREE OF FREEDOM WRIST 7 2010
9,101,381 Double universal joint 0 2013
9,226,761 End effector with redundant closing mechanisms 0 2014
 
COVIDIEN LP (1)
9,295,522 Medical device adapter with wrist mechanism 0 2013
 
MEMIC INNOVATIVE SURGERY LTD. (1)
9,039,057 Orientation controller, mechanical arm, gripper and components thereof 1 2010
 
BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA (12)
8,343,171 Methods and systems of actuation in robotic devices 5 2008
8,974,440 Modular and cooperative medical devices and related systems and methods 0 2008
8,679,096 Multifunctional operational component for robotic devices 0 2008
7,960,935 Robotic devices with agent delivery components and related methods 15 2010
8,894,633 Modular and cooperative medical devices and related systems and methods 0 2010
8,968,267 Methods and systems for handling or delivering materials for natural orifice surgery 0 2011
8,828,024 Methods, systems, and devices for surgical access and procedures 1 2011
8,604,742 Robotic devices with arms and related methods 0 2012
9,060,781 Methods, systems, and devices relating to surgical end effectors 0 2012
9,089,353 Robotic surgical devices, systems, and related methods 0 2012
9,010,214 Local control robotic surgical devices and related methods 0 2013
9,179,981 Multifunctional operational component for robotic devices 0 2014
* Cited By Examiner

Maintenance Fees

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11.5 Year Payment $7400.00 $3700.00 $1850.00 Apr 17, 2018
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Surcharge - 11.5 year - Late payment within 6 months $160.00 $80.00 $40.00
Surcharge after expiration - Late payment is unavoidable $700.00 $350.00 $175.00
Surcharge after expiration - Late payment is unintentional $1,640.00 $820.00 $410.00