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    GUIDED TOOL CHANGE
    1.
    发明公开
    GUIDED TOOL CHANGE 有权
    更换程序制导工具

    公开(公告)号：EP1294285A1

    公开(公告)日：2003-03-26

    申请号：EP01950310.1

    申请日：2001-06-15

    申请人： Intuitive Surgical, Inc.

    发明人： NIXON, Tom ,  NOWLIN, William, C. ,  NIEMEYER, Gunter, D.

    IPC分类号： A61B17/00

    CPC分类号： B25J9/1689 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B2034/742 ,  B25J9/1664

    摘要： A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool (500) is placed at an operating position inside the cavity using a slave manipulator (530) disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool (500) is decoupled from the slave manipulator (530) and removed from the cavity. A second robotic surgical tool (510) is introduced into the cavity based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool (510) in close proximity to the location of the distal end of the first robotic surgical tool (500) in the operating position prior to its removal from the cavity. A controller (534) is provided to control the slave manipulator (530) to guide the distal end of the second robotic surgical tool (510), during insertion of the second tool (510), to a location within the target space.

    CAMERA REFERENCED CONTROL IN A MINIMALLY INVASIVE SURGICAL APPARATUS
    2.
    发明公开
    CAMERA REFERENCED CONTROL IN A MINIMALLY INVASIVE SURGICAL APPARATUS 有权
    微创手术器械中的摄像机参考控制

    公开(公告)号：EP1269389A1

    公开(公告)日：2003-01-02

    申请号：EP00919930.8

    申请日：2000-03-29

    申请人： Intuitive Surgical, Inc.

    发明人： NIEMEYER, Gunter, D. ,  GUTHART, Gary, S. ,  NOWLIN, William, C. ,  SWARUP, Nitish ,  TOTH, Gregory, K. ,  YOUNGE, Robert, G.

    IPC分类号： G06F19/00

    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.

    摘要翻译： 增强型远程呈现和远程手术系统自动更新坐标变换，以保持输入设备（700）的移动与邻近输入设备显示的末端执行器的移动之间的对准。 处理器将控制器工作空间映射到末端执行器工作空间，并且响应于输入设备（700）的移动而实现末端执行器的移动。 这允许使用运动学上不同的主从链接。 在万向节点附近夹持输入构件，并通过适当的输入构件夹持末端执行器映射点，可提高操作员的控制力。 即使端部执行器的线性移动距离与输入设备的直线移动距离不一致，也可通过准确跟踪移动的方位和/或角度来提高灵活性。

    IMAGE SHIFTING TELEROBOTIC SYSTEM
    8.
    发明公开
    IMAGE SHIFTING TELEROBOTIC SYSTEM 有权
    远程机器人移动图片

    公开(公告)号：EP1148807A1

    公开(公告)日：2001-10-31

    申请号：EP99966064.0

    申请日：1999-12-07

    申请人： Intuitive Surgical, Inc.

    发明人： NIEMEYER, Gunter, D.

    IPC分类号： A61B1/00 ,  A61B1/04

    CPC分类号： A61B1/00149 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B90/36 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/506

    摘要： Teleoperator techniques often make use of at least one input device which can be selectively operatively associated with, for example, either a surgical instrument (26) to treat tissues, or with an image of a surgical worksite shown to a system operator on a display (14). A novel image manipulation arrangement (12) effects movement of the image connected to the input device, optionally while the instrument (or instruments) (26) remain at a fixed location at the worksite. This can give the operator the appearance of grasping and/or manipulating target tissue and worksite into a desired position for viewing, while movement of the image is actually effected by repositioning of the image capture device (24), electronic image manipulation, or the like. Alternative embodiments may make use of dedicated input devices for the image capture device (24) and the instrument (26), and these image manipulation and teleoperator techniques will find uses in industrial, hazardous environment, and other applications.