US 12,201,264 B2
Side-looking minimally invasive surgery instrument assembly
Thomas G. Cooper, Menlo Park, CA (US); Eugene F. Duval, Menlo Park, CA (US); David J. Rosa, San Jose, CA (US); and Matthew R. Williams, Walnut Creek, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jul. 23, 2021, as Appl. No. 17/384,026.
Application 13/316,060 is a division of application No. 11/762,132, filed on Jun. 13, 2007, granted, now 8,083,667, issued on Dec. 27, 2011.
Application 17/384,026 is a continuation of application No. 16/567,276, filed on Sep. 11, 2019, granted, now 11,304,769.
Application 16/567,276 is a continuation of application No. 14/943,216, filed on Nov. 17, 2015, granted, now 10,448,813, issued on Oct. 22, 2019.
Application 14/943,216 is a continuation of application No. 13/316,060, filed on Dec. 9, 2011, granted, now 9,215,967, issued on Oct. 22, 2015.
Claims priority of provisional application 60/813,172, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,173, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,207, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,030, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,129, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,328, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,126, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,075, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,028, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,131, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,198, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,029, filed on Jun. 13, 2006.
Claims priority of provisional application 60/813,125, filed on Jun. 13, 2006.
Prior Publication US 2021/0353377 A1, Nov. 18, 2021
Int. Cl. A61B 1/00 (2006.01); A61B 1/002 (2006.01); A61B 1/005 (2006.01); A61B 1/018 (2006.01); A61B 1/04 (2006.01); A61B 1/05 (2006.01); A61B 1/06 (2006.01); A61B 5/00 (2006.01); A61B 8/12 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/10 (2016.01); A61B 17/34 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01)
CPC A61B 1/00087 (2013.01) [A61B 1/00149 (2013.01); A61B 1/00154 (2013.01); A61B 1/0016 (2013.01); A61B 1/00165 (2013.01); A61B 1/00193 (2013.01); A61B 1/002 (2013.01); A61B 1/0051 (2013.01); A61B 1/018 (2013.01); A61B 1/04 (2013.01); A61B 1/05 (2013.01); A61B 1/06 (2013.01); A61B 5/0086 (2013.01); A61B 8/12 (2013.01); A61B 17/00234 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 34/71 (2016.02); A61B 34/72 (2016.02); A61B 90/10 (2016.02); A61B 1/0055 (2013.01); A61B 2017/00225 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00318 (2013.01); A61B 2017/00323 (2013.01); A61B 2017/0034 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/3447 (2013.01); A61B 2034/2061 (2016.02); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02); A61B 90/361 (2016.02)] 10 Claims
OG exemplary drawing
 
1. A surgical instrument assembly comprising:
a guide tube;
a first instrument extendable distally of the guide tube and configured to extend out of an exit port of the guide tube, the first instrument including a first elongated shaft and a first distal linkage assembly, the first distal linkage assembly including:
a first proximal arm link;
a first distal arm link; and
a first end effector,
wherein the first elongated shaft and the first proximal arm link are coupled by a first shoulder joint, the first proximal arm link and the first distal arm link are coupled by a first elbow joint, and the first distal arm link and the first end effector are coupled by a first wrist joint;
a second instrument extendable distally of the guide tube and configured to extend out of the exit port of the guide tube, the second instrument including a second elongated shaft and a second distal linkage assembly, the second distal linkage assembly including:
a second proximal arm link;
a second distal arm link; and
a second end effector,
wherein the second elongated shaft and the second proximal arm link are coupled by a second shoulder joint, the second proximal arm link and the second distal arm link are coupled by a second elbow joint, and the second distal arm link and the second end effector are coupled by a second wrist joint; and
an imaging assembly including an elongated shaft and a distal portion, wherein the elongated shaft of the imaging assembly is coupled to the distal portion of the imaging assembly by a joint, wherein at least the first and second elbow joints, the first and second wrist joints, and the first and second end effectors are within a field of view of the imaging assembly, and wherein when at least the first and second elbow joints, the first and second wrist joints, and the first and second end effectors are within the field of view of the imaging assembly, the imaging assembly is positioned distally of the exit port of the guide tube,
wherein the first distal linkage assembly of the first instrument and the second distal linkage assembly of the second instrument each include a greater number of joints than the imaging assembly.