Surgical instrument with a universal wrist

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 7121781
APP PUB NO 20040253079A1
SERIAL NO

10460382

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ATTORNEY / AGENT: (SPONSORED)

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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, CA969
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 12 397

Cited Art Landscape

Patent Info (Count) # Cites Year
 
HEXCEL CORPORATION (1)
6196081 Systems and methods employing a rotary track for machining and manufacturing 77 1999
 
Other [Check patent profile for assignment information] (2)
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5239883 Modular robot wrist 37 1991
 
FANUC ROBOTICS NORTH AMERICA, INC. (1)
6425177 Programmable positioner for the stress-free assembly of assemblies 20 2000
 
INRIA INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE DOMAINE DE VOLUCCAU - B.P. (1)
5053687 Articulated device, for use in particular in robotics 83 1989
 
SUZUKI MOTOR CORPORATION (1)
6270453 Bending device for examining insertion tube 173 1999
 
SRI INTERNATIONAL (1)
5808665 Endoscopic surgical instrument and method for use 475 1996
 
Symbiosis Corporation (1)
6296635 Endoscopic robotic surgical tools and methods 46 1999
 
GMF Robotics Corporation (1)
* 4805477 Multiple joint robot part 38 1987
 
INTUITIVE SURGICAL OPERATIONS, INC. (10)
5792135 Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 924 1997
5797900 Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity 336 1997
6102850 Medical robotic system 305 1997
6132441 Rigidly-linked articulating wrist with decoupled motion transmission 152 1999
6424885 Camera referenced control in a minimally invasive surgical apparatus 303 1999
6394998 Surgical tools for use in minimally invasive telesurgical applications 261 1999
6312435 Surgical instrument with extended reach for use in minimally invasive surgery 249 1999
6331181 Surgical robotic tools, data architecture, and use 777 1999
6699235 Platform link wrist mechanism 424 2002
6685698 Roll-pitch-roll surgical tool 120 2003
 
TOYODA KOKI KABUSHIKI KAISHA (1)
5715729 Machine tool having parallel structure 104 1995
 
JUNGHEINRICH UNTERNEHMENSVERWALTUNG KG (1)
* 4499790 Swivel head for industrial robots 20 1982
 
MACDONALD, DETTWILER AND ASSOCIATES INC. (1)
5740699 Wrist joint which is longitudinally extendible 78 1995
 
ZIMMER SPINE, INC. (2)
5454827 Surgical instrument 747 1994
5938678 Surgical instrument 151 1997
 
AGILITY ROBOTICS, INC. (1)
* 4723460 Robot wrist actuator 25 1987
 
MOORE, RUSSELL (1)
6330837 Parallel mechanism 157 2000
 
GEORGIA TECH RESEARCH CORPORATION (1)
* 4739241 Spherical motor particularly adapted for robotics 47 1986
 
VIRGINIA POLYTECHNIC INSTITUTE AND STATE UNIVERSITY (1)
* 5699695 Spatial, parallel-architecture robotic carpal wrist 29 1996
 
COACTIVE DRIVE CORPORATION (1)
6307285 Actuator with repulsive magnetic forces 92 2000
 
KARL STORZ GMBH & CO. KG (1)
5474571 Medical forceps with jaws which first tilt and then open 130 1994
* Cited By Examiner

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
Other [Check patent profile for assignment information] (2)
9956043 Methods, systems, and devices for surgical access and procedures 0 2014
* 9937012 Surgical arm 0 2014
 
NEUROARM SURGICAL LTD. (3)
8560118 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis 24 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 32 2008
9131986 Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis 1 2013
 
MACDONALD, DETTWILER AND ASSOCIATES INC. (2)
8444631 Surgical manipulator 8 2008
9333041 Surgical manipulator 0 2013
 
MacDonald Dettwiller and Associates Inc. (1)
8491603 Surgical manipulator 3 2007
 
COMPUTER MOTION (2)
8864794 Surgical instrument with a universal wrist 0 2006
* 2007/0066,986 Surgical instrument with a universal wrist 5 2006
 
AGILE ENDOSURGERY, INC. (1)
8915940 Surgical tool 0 2011
 
VIRTUAL INCISION CORPORATION (4)
7492116 Robot for surgical applications 43 2007
8968332 Magnetically coupleable robotic surgical devices and related methods 1 2007
8834488 Magnetically coupleable robotic surgical devices and related methods 0 2007
7772796 Robotic devices with agent delivery components and related methods 24 2007
 
INTUITIVE SURGICAL OPERATIONS, INC. (19)
9693794 Replaceable end-effector cartridges with cam mechanisms 0 2010
9144452 Robotic surgical tool for pluggable end-effectors 2 2010
8827996 Methods for pluggable end-effectors of robotic surgical instruments 7 2010
8105320 Methods for replaceable end-effector cartridges 27 2010
* 2010/0198,218 REPLACEABLE END-EFFECTOR CARTRIDGES WITH CAM MECHANISMS 30 2010
* 2010/0198,231 METHODS FOR REPLACEABLE END-EFFECTOR CARTRIDGES 23 2010
* 2010/0191,250 ROBOTIC SURGICAL TOOL FOR PLUGGABLE END-EFFECTORS 6 2010
* 9259275 Wrist articulation by linked tension members 1 2010
8876857 End effector with redundant closing mechanisms 116 2010
8852174 Surgical tool with a two degree of freedom wrist 6 2010
8640788 Motor interface for parallel drive shafts within an independently rotating member 120 2010
* 2011/0118,707 WRIST ARTICULATION BY LINKED TENSION MEMBERS 32 2010
* 2011/0118,778 END EFFECTOR WITH REDUNDANT CLOSING MECHANISMS 246 2010
* 2011/0118,709 SURGICAL TOOL WITH A TWO DEGREE OF FREEDOM WRIST 14 2010
* 2011/0118,754 MOTOR INTERFACE FOR PARALLEL DRIVE SHAFTS WITHIN AN INDEPENDENTLY ROTATING MEMBER 188 2010
9526560 Surgical systems with robotic surgical tool having pluggable end-effectors 0 2013
9101381 Double universal joint 0 2013
9763740 Motor interface for parallel drive shafts within an independently rotating member 0 2013
9226761 End effector with redundant closing mechanisms 1 2014
 
CAMBRIDGE ENDOSCOPIC DEVICES, INC. (1)
* 2008/0255,420 Surgical instrument 32 2007
 
COVIDIEN LP (1)
9295522 Medical device adapter with wrist mechanism 29 2013
 
MEMIC INNOVATIVE SURGERY LTD. (1)
9039057 Orientation controller, mechanical arm, gripper and components thereof 3 2010
 
KARL STORZ GMBH & CO. KG (1)
9492188 Endoscopic instrument 0 2014
 
BOARD OF REGENTS OF THE UNIVERSITY OF NEBRASKA (19)
9579088 Methods, systems, and devices for surgical visualization and device manipulation 1 2007
8343171 Methods and systems of actuation in robotic devices 10 2008
8974440 Modular and cooperative medical devices and related systems and methods 1 2008
8679096 Multifunctional operational component for robotic devices 2 2008
7960935 Robotic devices with agent delivery components and related methods 27 2010
8894633 Modular and cooperative medical devices and related systems and methods 0 2010
8968267 Methods and systems for handling or delivering materials for natural orifice surgery 0 2011
8828024 Methods, systems, and devices for surgical access and procedures 4 2011
8604742 Robotic devices with arms and related methods 5 2012
9060781 Methods, systems, and devices relating to surgical end effectors 3 2012
9089353 Robotic surgical devices, systems, and related methods 8 2012
9770305 Robotic surgical devices, systems, and related methods 0 2012
9498292 Single site robotic device and related systems and methods 0 2013
9010214 Local control robotic surgical devices and related methods 4 2013
9403281 Robotic devices with arms and related methods 0 2013
9179981 Multifunctional operational component for robotic devices 0 2014
9743987 Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers 0 2014
9888966 Methods, systems, and devices relating to force control surgical systems 0 2014
9757187 Methods, systems, and devices relating to surgical end effectors 0 2015
* Cited By Examiner

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