Thomas E Cooper

US Patent:

6346072, Feb 12, 2002

Filed:

Sep 28, 1999

Appl. No.:

09/406360

Inventors:

Thomas G. Cooper - Menlo Park CA

Assignee:

Intuitive Surgical, Inc. - Mountain View CA

International Classification:

A61B 100

US Classification:

600102, 606130, 606 1

Abstract:

Systems and methods are provided for performing robotically-assisted surgical procedures on a patient. In particular, a three-component surgical system is provided that includes a non-sterile drive and control component, a sterilizable end effector or surgical tool and an intermediate connector component that includes mechanical elements for coupling the surgical tool with the drive and control component and for transferring motion and electrical signals therebetween. The drive and control component is shielded from the sterile surgical site, the surgical tool is sterilizable and disposable and the intermediate connector is sterilizable and reusable. In this manner, the intermediate connector can be sterilized after a surgical procedure without damaging the motors or electrical connections within the drive and control component of the robotic system.

US Patent:

6451027, Sep 17, 2002

Filed:

Dec 15, 1999

Appl. No.:

09/464287

Inventors:

Thomas G. Cooper - Menlo Park CA
Dean F. Hoornaert - Mountain View CA
Steven J. Blumenkranz - Redwood City CA

Assignee:

Intuitive Surgical, Inc. - Mountain View CA

International Classification:

A61B 1900

US Classification:

606130, 901 19, 901 27

Abstract:

A positional control system, comprising a robotically controlled arm, for varying the position of a robotic surgical tool, is provided. The robotic surgical tool can be in the form of an image capture device, such as an endoscope, for example. The positional control system comprises a base and a mounting formation arranged to support the robotic surgical tool. The positional control system further comprises an articulated arm extending between the base and the mounting formation. The articulated arm has an upper arm portion, a forearm portion, a forearm link member and an upper arm link member. The portions and the link members are pivotally secured relative to one another to effect displacement of the mounting formation relative to the base. The forearm link member is positioned at least partially within the forearm portion and the upper arm link member is positioned at least partially within the upper arm portion.

US Patent:

6491701, Dec 10, 2002

Filed:

Jan 12, 2001

Appl. No.:

09/759542

Inventors:

Michael J. Tierney - Pleasanton CA
Thomas Cooper - Menlo Park CA
Chris Julian - Los Gatos CA
Stephen J. Blumenkranz - Redwood City CA
Gary S. Guthart - Foster City CA
Robert G. Younge - Portola Valley CA

Assignee:

Intuitive Surgical, Inc. - Sunnyvale CA

International Classification:

A61B 1900

US Classification:

606130, 7449002

Abstract:

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

US Patent:

6522906, Feb 18, 2003

Filed:

Dec 14, 1999

Appl. No.:

09/464455

Inventors:

Gunter D. Niemeyer - Mountain View CA
Robert G. Younge - Portola Valley CA
Gary S. Guthart - Foster City CA
David S. Mintz - Sunnyvale CA
Thomas G. Cooper - Menlo Park CA

Assignee:

Intuitive Surgical, Inc. - Mountain View CA

International Classification:

A61B 100

US Classification:

600407, 600102, 700245

Abstract:

Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

US Patent:

6594552, Jul 15, 2003

Filed:

Apr 6, 2000

Appl. No.:

09/544153

Inventors:

William C. Nowlin - Los Altos CA
Gary S. Guthart - Foster City CA
Robert G. Younge - Portola Valley CA
Thomas G. Cooper - Menlo Park CA
Craig Gerbi - San Carlos CA
Steven J. Blumenkranz - Redwood City CA
Dean F. Hoornaert - Mountain View CA

Assignee:

Intuitive Surgical, Inc. - Mountain View CA

International Classification:

G05B 1500

US Classification:

700260, 700213, 700245, 700248, 700251, 700253, 700257, 700259, 700261, 700262, 606130, 606139, 606142, 606206, 606208, 606170, 600102, 600109, 600117, 600118, 600587, 600103, 31856811, 31856813, 31856816, 3185682, 31856822

Abstract:

Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

US Patent:

6770081, Aug 3, 2004

Filed:

Jan 7, 2000

Appl. No.:

09/478953

Inventors:

Thomas G. Cooper - Menlo Park CA
Christopher A. Julian - Los Gatos CA
Michael Ikeda - San Jose CA
Daniel T. Wallace - Redwood City CA
David J. Rosa - San Jose CA
Andris D. Ramans - Mountain View CA
Frederic H. Moll - Woodside CA
Robert G. Younge - Portola Valley CA

Assignee:

Intuitive Surgical, Inc. - Mountain View CA

International Classification:

A61B 1900

US Classification:

606130

Abstract:

Surgical accessories are presented in vivo and used by surgical tools in the surgical site to perform additional tasks without the need to remove the tools from the surgical site for tool change or instrument loading. Some accessories need to be actuated to effect a predetermined treatment, such as an aortic punch, clamps, pliers, and the like. For such accessories, the actuation can conveniently be performed by an operator such as an assistant remotely from outside the patients body while placement of the accessories takes place in the surgical site by manipulating the accessories using robotic surgical tools in the site. A lockdown feature may be incorporated in accessories to lock them in place remotely from outside the surgical site upon actuation.

US Patent:

6817974, Nov 16, 2004

Filed:

Jun 28, 2002

Appl. No.:

10/187248

Inventors:

Thomas G. Cooper - Menlo Park CA
Daniel T. Wallace - Redwood City CA
Stacey Chang - Sunnyvale CA
S. Christopher Anderson - Northampton MA
Dustin Williams - Mountain View CA
Scott Manzo - Shelton CT

Assignee:

Intuitive Surgical, Inc. - Sunnyvale CA

International Classification:

A61B 100

US Classification:

600142, 606205

Abstract:

The present invention is directed to a tool having a wrist mechanism that provides pitch and yaw rotation in such a way that the tool has no singularity in roll, pitch, and yaw. A positively positionable multi-disk wrist mechanism includes a plurality of disks or vertebrae stacked in series. Each vertebra is configured to rotate in pitch or in yaw with respect to each neighboring vertebra. Actuation cables are used to manipulate and control movement of the vertebrae. In specific embodiments, some of the cables are distal cables that extend from a proximal vertebra through one or more intermediate vertebrae to a distal vertebra, while the remaining cables are medial cables that extend from the proximal vertebra to one or more of the intermediate vertebrae. The cables are actuated by a pivoted plate cable actuator mechanism. In specific embodiments, the actuator mechanism includes a plurality of small radius holes or grooves for receiving the medial cables and a plurality of large radius holes or grooves for receiving the distal cables.

US Patent:

6866671, Mar 15, 2005

Filed:

Aug 13, 2001

Appl. No.:

09/929826

Inventors:

Michael J. Tierney - Pleasanton CA, US
Thomas Cooper - Menlo Park CA, US
Chris Julian - Los Gatos CA, US
Stephen J. Blumenkranz - Redwood City CA, US
Gary S. Guthart - Foster City CA, US
Robert G. Younge - Mountain View CA, US

Assignee:

Intuitive Surgical, Inc. - Mt. View CA

International Classification:

A61B019/00

US Classification:

606130, 606 1

Abstract:

Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.