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1.发明公开
公开(公告)号：EP1181627A4
公开(公告)日：2002-10-16
申请号：EP00925883
申请日：2000-03-29
IPC分类号： A61B1/00 , A61B17/00 , A61B18/00 , A61B19/00 , B25J3/04 , B25J9/16 , B25J19/02 , H04N5/225 , H04N13/00 , G05B1/00 , G05B19/401
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/0239 , H04N13/0246 , H04N13/0425 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave., as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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公开(公告)号：EP1150601A4
公开(公告)日：2007-08-15
申请号：EP99961747
申请日：1999-11-18
发明人： EVANS PHILIP C , MOLL FREDERIC H , GUTHART GARY S , NOWLIN WILLIAM C , PENDLETON RAND P , WILSON CHRISTOPHER P , RAMANS ANDRIS D , ROSA DAVID J , FLAK VOLKMAR , YOUNGE ROBERT G
CPC分类号： A61B34/30 , A61B17/0469 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00243 , A61B2017/00703 , A61B2034/2065 , A61B2034/742 , A61B2090/064
摘要： A surgical system or assembly for performing cardiac surgery includes a surgical instrument (82); a servo-mechanical system engaged to the surgical instrument for operating the surgical instrument; and an attachment assembly for removing at least one degree of movement from a moving surgical cardiac worksite. The surgical system or assembly also includes a motion tracking system (88); and a control computer (34) engaged to the attachment assembly, the motion tracking system and to the servo-mechanical system for controlling movement of the attachment assembly and for feeding gathered information to the servo-mechanical system for moving the surgical instrument.
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公开(公告)号：EP1269389A4
公开(公告)日：2003-10-29
申请号：EP00919930
申请日：2000-03-29
发明人： NIEMEYER GUNTER D , GUTHART GARY S , NOWLIN WILLIAM C , SWARUP NITISH , TOTH GREGORY K , YOUNGE ROBERT G
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device (700) and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to movement of the input device (700). This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
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公开(公告)号：EP1131004A4
公开(公告)日：2007-07-11
申请号：EP99965017
申请日：1999-11-18
发明人： MOLL FREDERICK H , ROSA DAVID J , RAMANS ANDRIS D , BLUMENKRANZ STEVEN J , GUTHART GARY S , NIEMEYER GUNTER D , NOWLIN WILLIAM C , SALISBURY J KENNETH JR , TIERNEY MICHAEL
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G09B23/285
摘要： Robotics surgical systems, devices, include selected associatablc master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left-hand tissue manipulation tool, a right-hand manipulation tool, and a fourth surgical instrument, particularly stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back and forth between the operator, and an assistant. Two or more robotics systems each having master controls (200) and slave manipulators (300) may be coupled to enable cooperative surgery between two or more operators (O,A1,A2).
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5.发明公开SURGICAL ROBOTIC TOOLS, DATA ARCHITECTURE, AND USE 有权CHIRGGISCHE ROBOTISCHEGERÄTE，DATENARCHITEKTUR UND VERWENDUNG
公开(公告)号：EP1146830A4
公开(公告)日：2004-12-29
申请号：EP99968468
申请日：1999-12-06
发明人： TIERNEY MICHAEL J , COOPER THOMAS , JULIAN CHRIS , BLUMENKRANZ STEVEN J , GUTHART GARY S , YOUNGE ROBERT G
CPC分类号： A61B34/30 , A61B17/00234 , A61B18/1445 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B46/13 , A61B90/361 , A61B90/90 , A61B90/98 , A61B2017/00477 , A61B2017/00482 , A61B2034/305 , A61B2090/0803 , A61B2090/0818 , A61B2090/506 , G06Q30/02 , H01H36/0046 , H01H85/0056 , Y10S901/41 , Y10T74/20305 , Y10T74/20311
摘要： Robotic surgical tools, systems, and methods for preparing for, and performing robotic surgery include a memory (126) mounted on the tool (54). The memory (126) can perform a number of functions when the tool (54) is loaded on the tool manipulator (58). First, the memory can provide a signal verifying that the tool (54) is compatible with that particular robotic system. Secondly, the tool memory (126) may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory (126) of the tool (54) 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.
摘要翻译： 用于准备和执行机器人手术的机器人手术工具，系统和方法包括安装在工具（54）上的存储器（126）。 当工具（54）被装载在工具操纵器（58）上时，存储器126能执行许多功能。 首先，存储器可以提供验证工具（54）与该特定机器人系统兼容的信号。 其次，工具存储器（126）可以识别机器人系统的工具类型，使得机器人系统可以重新配置其编程。 第三，工具（54）的存储器（126）可以指示工具特定信息，包括指示工具驱动系统的未对准的测量校准偏移，工具寿命数据等。 该信息可以存储在只读存储器（ROM）中，或存储在只能单次写入的非易失性存储器中。 本发明还提供了用于将机器人手术工具与机械手结构相结合的改进的接合结构。
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