US 12,465,198 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. 17/384,176.
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 17/384,176 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 2021/0361369 A1, Nov. 25, 2021
Int. Cl. A61B 34/30 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/018 (2006.01); A61B 1/05 (2006.01); A61B 34/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 1/00149 (2013.01) [A61B 1/00087 (2013.01); A61B 1/00154 (2013.01); A61B 1/00193 (2013.01); A61B 1/0051 (2013.01); A61B 1/018 (2013.01); A61B 1/05 (2013.01); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/71 (2016.02); A61B 1/0055 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00323 (2013.01); A61B 2034/301 (2016.02); A61B 2034/305 (2016.02); A61B 2034/306 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A surgical instrument assembly comprising:
a guide tube including a longitudinal axis;
a first instrument extended within the guide tube and configured to extend out of an exit port of the guide tube, the first instrument comprising a first elongated shaft coupled to a first end effector by a first linkage arm;
a second instrument extended within the guide tube and configured to extend out of the exit port of the guide tube, the second instrument comprising a second elongated shaft coupled to a second end effector by a second linkage arm; and
an imaging assembly, wherein when the first and second instruments are within a field of view of the imaging assembly, the imaging assembly is positioned distally of the exit port of the guide tube, the imaging assembly comprising:
a housing;
a distal imaging component positioned within the housing, wherein the distal imaging component includes a first imaging element spaced apart from a second imaging element; and
an elongated imaging shaft including a rigid shaft body, the elongated imaging shaft extended along a first axis parallel to the longitudinal axis of the guide tube,
wherein the housing is directly coupled to a distal end of the rigid shaft body of the elongated imaging shaft by a pivot joint, the pivot joint pivotable about a second axis perpendicular to the first axis, wherein the second axis intersects the first axis of the elongated imaging shaft and intersects the housing, wherein the housing is pivotable about the pivot joint to a position where a longitudinal axis of the housing is perpendicular to the longitudinal axis of the guide tube, and wherein relative motion between the housing and the rigid shaft body of the elongated imaging shaft is constrained by the pivot joint, and wherein the first imaging element and the second imaging element are equidistantly spaced from the second axis,
wherein the imaging assembly includes a first configuration and a second configuration, wherein in the first configuration the elongated imaging shaft is aligned with the housing during insertion of the distal imaging component through the guide tube, and wherein in the second configuration the housing is pivoted about the pivot joint and out of alignment with the elongated imaging shaft when the distal imaging component is extended distally of the guide tube.