US Patent No: 7,121,781

Number of patents in Portfolio can not be more than 2000

Surgical instrument with a universal wrist

ALSO PUBLISHED AS: 20040253079

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Importance

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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, INC.SUNNYVALE, CA166
COMPUTER MOTIONGOLETA, CA3

International Classification(s)

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  • [Patents Count]

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Sanchez, Dan Santa Barbara, CA 17 175

Cited Art Landscape

Patent Info (Count) # Cites Year
 
INTUITIVE SURGICAL, INC. (9)
5,792,135 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 359 1997
5,797,900 Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 205 1997
6,102,850 Medical robotic system 168 1997
6,132,441 Rigidly-linked articulating wrist with decoupled motion transmission 89 1999
6,424,885 Camera referenced control in a minimally invasive surgical apparatus 107 1999
6,394,998 Surgical tools for use in minimally invasive telesurgical applications 136 1999
6,312,435 Surgical instrument with extended reach for use in minimally invasive surgery 140 1999
6,699,235 Platform link wrist mechanism 104 2002
6,685,698 Roll-pitch-roll surgical tool 61 2003
 
ZIMMER SPINE, INC. (2)
5,454,827 Surgical instrument 300 1994
5,938,678 Surgical instrument 67 1997
 
AGILITY ROBOTICS, INC. (1)
4,723,460 Robot wrist actuator 23 1987
 
Coactive Drive Corporation (1)
6,307,285 Actuator with repulsive magnetic forces 46 2000
 
FANUC ROBOTICS NORTH AMERICA, INC. (1)
6,425,177 Programmable positioner for the stress-free assembly of assemblies 9 2000
 
GEORGIA TECH RESEARCH CORPORATION (1)
4,739,241 Spherical motor particularly adapted for robotics 41 1986
 
GMF Robotics Corporation (1)
4,805,477 Multiple joint robot part 26 1987
 
HEXCEL CORPORATION (1)
6,196,081 Systems and methods employing a rotary track for machining and manufacturing 28 1999
 
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 59 1989
 
INTUITIVE SURGICAL OPERATIONS, INC. (1)
6,331,181 Surgical robotic tools, data architecture, and use 276 1999
 
JUNGHEINRICH UNTERNEHMENSVERWALTUNG KG (1)
4,499,790 Swivel head for industrial robots 19 1982
 
KARL STORZ GMBH & CO. KG (1)
5,474,571 Medical forceps with jaws which first tilt and then open 73 1994
 
MACDONALD DETTWILER SPACE AND ADVANCED ROBOTICS LTD. (1)
5,740,699 Wrist joint which is longitudinally extendible 42 1995
 
MOORE, RUSSELL (1)
6,330,837 Parallel mechanism 56 2000
 
SRI INTERNATIONAL (1)
5,808,665 Endoscopic surgical instrument and method for use 325 1996
 
SUZUKI MOTOR CORPORATION (1)
6,270,453 Bending device for examining insertion tube 81 1999
 
Symbiosis Corporation (1)
6,296,635 Endoscopic robotic surgical tools and methods 16 1999
 
TOYODA KOKI KABUSHIKI KAISHA (1)
5,715,729 Machine tool having parallel structure 58 1995
 
VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY (1)
5,699,695 Spatial, parallel-architecture robotic carpal wrist 20 1996
 
Other [Check patent profile for assignment information] (2)
4,604,016 Multi-dimensional force-torque hand controller having force feedback 249 1983
5,239,883 Modular robot wrist 16 1991

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA (4)
8,343,171 Methods and systems of actuation in robotic devices 1 2008
8,679,096 Multifunctional operational component for robotic devices 0 2008
7,960,935 Robotic devices with agent delivery components and related methods 4 2010
8,604,742 Robotic devices with arms and related methods 0 2012
 
INTUITIVE SURGICAL OPERATIONS, INC. (2)
8,105,320 Methods for replaceable end-effector cartridges 0 2010
8,640,788 Motor interface for parallel drive shafts within an independently rotating member 0 2010
 
VIRTUAL INCISION CORPORATION (2)
7,492,116 Robot for surgical applications 12 2007
7,772,796 Robotic devices with agent delivery components and related methods 4 2007
 
MACDONALD DETTWILER & ASSOCIATES INC. (1)
8,444,631 Surgical manipulator 1 2008
 
MacDonald Dettwiller and Associates Inc. (1)
8,491,603 Surgical manipulator 0 2007
 
NEUROARM SURGICAL LTD. (1)
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 0 2008

Maintenance Fees

Fee Large entity fee small entity fee micro entity fee due date
7.5 Year Payment $3600.00 $1800.00 $900.00 Apr 17, 2014
11.5 Year Payment $7400.00 $3700.00 $1850.00 Apr 17, 2018
Fee Large entity fee small entity fee micro entity fee
Surcharge - 7.5 year - Late payment within 6 months $160.00 $80.00 $40.00
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

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