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公开(公告)号：EP2177174A2
公开(公告)日：2010-04-21
申请号：EP10150323.3
申请日：2007-05-17
申请人： Hansen Medical, Inc.
发明人： Barbagli, Federico
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2034/301 , A61B2034/304 , B25J9/1689 , B25J13/02 , G05G9/04737 , G05G2009/04766
摘要： A robotic instrument system having a controller including a master input device (12), and an instrument driver (16) in communication with the controller. The instrument driver includes a guide instrument interface including two or more guide instrument drive elements responsive to control signals generated, at least in part, by the master input device for manipulating a guide instrument operatively coupled to the instrument interface, and a sheath instrument interface including two or more sheath instrument drive elements responsive to control signals generated, at least in part, by the master input device for manipulating a sheath instrument operatively coupled to the instrument interface, wherein the sheath instrument drive elements are control independently of the guide instrument control elements.
摘要翻译： 一种具有控制器的机器人仪器系统，所述控制器包括主输入装置（12）以及与所述控制器通信的仪器驱动器（16）。 该仪器驱动器包括引导仪器接口，该引导仪器接口包括两个或更多个引导仪器驱动元件以及鞘仪器接口，该引导仪器驱动元件响应于至少部分由主输入设备产生的用于操作可操作地耦合到仪器接口的引导仪器产生的控制信号， 两个或更多个护套仪器驱动元件，所述护套仪器驱动元件响应于至少部分地由所述主输入装置产生的用于操纵可操作地联接到所述仪器接口的护套仪器产生的控制信号，其中所述护套仪器驱动元件独立于所述引导仪器控制元件 。
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32.发明公开
公开(公告)号：EP2153793A2
公开(公告)日：2010-02-17
申请号：EP09010328.4
申请日：2009-08-11
发明人： Röse, Andreas
IPC分类号： A61B19/00
CPC分类号： B25J17/0266 , A61B34/70 , A61B90/361 , A61B2017/00296 , A61B2017/2902 , A61B2017/2906 , A61B2017/2927 , A61B2017/2929 , A61B2017/2932 , A61B2034/304
摘要： Eine Manipulationsvorrichtung (1) für ein chirurgisches Instrument mit einer Befestigungseinrichtung zur Befestigung der Manipulationsvorrichtung (1) an einem Instrumentenschaft, an welchem mehrere Linearaktoren (2) festlegbar sind, mit einer Werkzeugplattform (8) zur Aufnahme von mindestens einem chirurgischen Werkzeug und mit mehreren passiven Stab-Gelenk-Einheiten (5,9,10,11), deren eines Ende (6) jeweils mit einem zugeordneten Linearaktor (2) verbindbar ist und mittels derer die Werkzeugplattform (8) mit den Linearaktoren (2) in Wirkverbindung bringbar ist, weist mindestens zwei durchgehende Stab-Gelenk-Einheiten (10,11) auf, die jeweils mit der werkzeugplattform (8) verbunden sind und mindestens eine verzweigende Stab-Gelenk-Einheit (10,11), die an einem Verzweigungsabschnitt (12) beabstandet zu der Werkzeugplattform (8) mit einer zugeordneten durchgehenden Stab-Gelenk-Einheit (5) verbunden ist.
摘要翻译： 装置（1）具有用于将装置固定在固定有多个线性致动器（2）的仪器轴处的固定装置。 提供用于保持外科手术工具的工具平台（8）。 一个连续的杆关节单元（5），即主链，其一端（6）与致动器连接。 连续的杆接头单元与平台连接。 分支杆 - 关节单元（10,11）即驱动链与连续的杆 - 关节单元在远离平台的分支部分（12）处连接。 工具平台和杆接头单元由塑料材料制成。
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公开(公告)号：EP1779802A3
公开(公告)日：2007-12-19
申请号：EP06255592.5
申请日：2006-10-31
IPC分类号： A61B19/00
CPC分类号： A61B8/543 , A61B8/12 , A61B34/20 , A61B34/30 , A61B34/70 , A61B2034/105 , A61B2034/2051 , A61B2034/301 , A61B2034/304 , A61B2090/378 , A61B2090/3784
摘要： The position of an imaging catheter in a body structure such as the heart is automatically controlled by a robotic manipulator such that its field of view at all times includes the distal end of a second catheter that is employed to effect a medical procedure. A processor receives signals from position sensors in the catheters. The processor utilizes the information received from the sensors and continually determines any deviation of the second catheter from the required field of view of the imaging catheter. The processor transmits compensation instructions to the robotic manipulator, which when executed assure that the imaging catheter tracks the second catheter.
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34.发明公开SURGICAL TOOL HAVING POSITIVELY POSITIONABLE TENDON-ACTUATED MULTI-DISK WRIST JOINT 有权具有正定位筋激活多DISK手腕操作工具
公开(公告)号：EP1585425A2
公开(公告)日：2005-10-19
申请号：EP02748026.8
申请日：2002-07-01
发明人： COOPER, Thomas, G. , CHANG, Stacey , ANDERSON, S., Christopher , WILLIAMS, Dustin , MANZO, Scott , WALLACE, Daniel, T.
IPC分类号： A61B1/00
CPC分类号： A61B17/00234 , A61B1/0055 , A61B1/0057 , A61B1/008 , A61B34/30 , A61B34/71 , A61B34/72 , A61B2017/00314 , A61B2017/0069 , A61B2017/2908 , A61B2017/2929 , A61B2017/2936 , A61B2034/304 , A61B2034/305 , A61B2034/306
摘要： 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. The holes or grooves restrain the medial cables to a small radius of motion and the distal cables to a large radius of motion, so that the medial cables to the medial vertebra move only a fraction of the amount as the distal cables to the distal vertebra, so as to achieve precise control and manipulation of the vertebrae.
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公开(公告)号：EP1084802B1
公开(公告)日：2005-06-01
申请号：EP00402580.5
申请日：2000-09-18
IPC分类号： B25J17/02
CPC分类号： B25J17/0266 , A61B2034/304 , B25J9/0051 , Y10T74/20305 , Y10T74/20317
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公开(公告)号：EP1133265B1
公开(公告)日：2004-07-07
申请号：EP99961736.8
申请日：1999-11-22
CPC分类号： B25J9/1065 , A61B34/30 , A61B34/77 , A61B2034/304 , A61B2034/742 , A61B2090/064 , A61B2090/506 , B25J9/0072 , B25J17/0266
摘要： A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.
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公开(公告)号：EP1212002A1
公开(公告)日：2002-06-12
申请号：EP00967571.1
申请日：2000-09-13
发明人： WAPLER, Matthias
CPC分类号： B25J17/0216 , A61B34/30 , A61B34/70 , A61B2034/304 , B25J9/1623 , B25J9/1676 , G05B2219/42318 , G05B2219/45117 , G05B2219/50162
摘要： Robots of this type are used especially in medical technology but are inadequately protected against functional defects. The invention therefore provides for an independent monitoring device consisting of at least three separate, sensor-monitored measuring sections (17) which are located between the support plate (13) and the working plate (14) and are linked to the working plate (14) and the support plate (13) by end points (18, 19), respectively. The measuring sections (17) are also oriented in a diagonal position in relation to the main axis which extends at right angles to the support plate (13) and the working plate (14).
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公开(公告)号：EP1133265A1
公开(公告)日：2001-09-19
申请号：EP99961736.8
申请日：1999-11-22
IPC分类号： A61B19/00
CPC分类号： B25J9/1065 , A61B34/30 , A61B34/77 , A61B2034/304 , A61B2034/742 , A61B2090/064 , A61B2090/506 , B25J9/0072 , B25J17/0266
摘要： A surgical manipulator (10) can manipulate a medical tool (12) with one or more degrees of freedom. In preferred embodiments, the manipulator (10) is a parallel mechanism including a plurality of arms (21, 22) pivotally supporting a medical tool (12), with the orientation of the medical tool (12) being adjusted by varying the position of joints (23, 24) mounted on the arms (21, 22). The motions of the joints (23, 24) can be controlled such that the tool (12) is pivoted about a virtual pivot point located within the body wall of a patient (30). The manipulator (10) can enhance the dexterity of an operator and enable the operator to perform medical procedures more easily than by hand.
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公开(公告)号：EP3119333A4
公开(公告)日：2017-12-13
申请号：EP15765353
申请日：2015-03-17
CPC分类号： A61B34/30 , A61B1/00149 , A61B34/70 , A61B2017/00017 , A61B2034/2059 , A61B2034/301 , A61B2034/304 , A61B2034/305 , B25J9/1607 , B25J9/1633
摘要： A system and method of maintaining a tool pose for a computer-assisted medical device with an articulated arm including one or more first joints and one or more second joints, a tool distal to the first joints and the second joints, and a control unit coupled to the first joints and the second joints. The control unit maintains a pose of the tool during movement of the first joints using the second joints by determining a reference coordinate frame for the tool, determining a reference transform of the tool in the reference coordinate frame prior to the movement of the first joints, determining an actual transform of the tool in the reference coordinate frame while the first joints are being moved, determining differences between the reference transform and the actual transform, and maintaining the pose of the tool by driving the second joints based on the differences.
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40.发明公开
公开(公告)号：EP3107478A4
公开(公告)日：2017-10-18
申请号：EP15751849
申请日：2015-02-19
发明人： GRIFFITHS PAUL G , MOHR PAUL W , SWARUP NITISH , COSTA MICHAEL , LARKIN DAVID Q , COOPER THOMAS G
CPC分类号： A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
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