公开(公告)号：EP2231050B1

公开(公告)日：2012-06-20

申请号：EP08861934.1

申请日：2008-12-10

申请人： Intuitive Surgical Operations, Inc.

发明人： BLUMENKRANZ, Stephen J. ,  HASSER, Christopher J.

IPC分类号： A61B19/00

CPC分类号： G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

摘要： In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

公开(公告)号：EP2231050A1

公开(公告)日：2010-09-29

申请号：EP08861934.1

申请日：2008-12-10

申请人： Intuitive Surgical Operations, Inc.

发明人： BLUMENKRANZ, Stephen J. ,  HASSER, Christopher J.

IPC分类号： A61B19/00

CPC分类号： G01L1/246 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B90/06 ,  A61B2017/00477 ,  A61B2034/305 ,  A61B2090/064

摘要： In one embodiment, a force sensor apparatus is provided including a tube portion having a plurality of radial ribs and a strain gauge positioned over each of the plurality of radial ribs, a proximal end of the tube portion that operably couples to a shaft of a surgical instrument that operably couples to a manipulator arm of a robotic surgical system, and a distal end of the tube portion that proximally couples to a wrist joint coupled to an end effector.

公开(公告)号：EP2442743B1

公开(公告)日：2018-10-03

申请号：EP10720850.6

申请日：2010-05-19

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher J. ,  CURET, Myriam J. ,  MOHR, Catherine J. ,  STEIN, Hubert

IPC分类号： A61B34/35 ,  A61B34/37 ,  A61B90/00

CPC分类号： A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

公开(公告)号：EP2587988A1

公开(公告)日：2013-05-08

申请号：EP11729849.7

申请日：2011-06-22

申请人： Intuitive Surgical Operations, Inc.

发明人： MCDOWALL, Ian M. ,  HASSER, Christopher J.

IPC分类号： A61B5/00 ,  A61B1/06

CPC分类号： A61B1/0638 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/063 ,  A61B1/0684 ,  A61B5/0071 ,  A61B5/0084 ,  A61B5/7425

摘要： A surgical site is simultaneously illuminated by less than all the visible color components that make up visible white light, and a fluorescence excitation illumination component by an illuminator in a minimally invasive surgical system. An image capture system acquires an image for each of the visible color components illuminating the surgical site and a fluorescence image, which is excited by the fluorescence excitation component from the illuminator. The minimally invasive surgical system uses the acquired images to generate a background black and white image of the surgical site. The acquired fluorescence image is superimposed on the background black and white image, and is highlighted in a selected color, e.g., green. The background black and white image with the superimposed highlighted fluorescence image is displayed for a user of the system. The highlighted fluorescence image identifies tissue of clinical interest.

公开(公告)号：EP2587988B1

公开(公告)日：2014-11-12

申请号：EP11729849.7

申请日：2011-06-22

申请人： Intuitive Surgical Operations, Inc.

发明人： MCDOWALL, Ian M. ,  HASSER, Christopher J.

IPC分类号： A61B5/00 ,  A61B1/06

CPC分类号： A61B1/0638 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/063 ,  A61B1/0684 ,  A61B5/0071 ,  A61B5/0084 ,  A61B5/7425

公开(公告)号：EP2442743A1

公开(公告)日：2012-04-25

申请号：EP10720850.6

申请日：2010-05-19

申请人： Intuitive Surgical Operations, Inc.

发明人： ITKOWITZ, Brandon D. ,  ZHAO, Tao ,  DIMAIO, Simon ,  ZHAO, Wenyi ,  HASSER, Christopher J. ,  CURET, Myriam J. ,  MOHR, Catherine J. ,  STEIN, Hubert

IPC分类号： A61B19/00

CPC分类号： A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

摘要翻译： 用于远程手术和其它应用的机器人和/或测量装置（10），系统和方法采用可操作地联接到工具（26）的输入装置（16），以允许系统使用者（18）操纵被测量的组织和其他结构 。 该系统可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点（242,244），以便提供沿直线或弯曲结构的累积长度，面积测量，体积测量等。 离散点可以由单个手术工具（240）或通过分开两个或更多个手术工具的距离来识别，其中用户可选地通过步行一对工具来测量比立体图像捕捉设备的视场更长的结构“ 沿着结构交叉“。 通过允许系统用户在指定组织位置的同时与组织相互作用，并且通过使用成像数据来确定测量结果，可以提高测量精度和测量的简易性。