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公开(公告)号：US09259276B2
公开(公告)日：2016-02-16
申请号：US13214439
申请日：2011-08-22
CPC分类号： A61B34/30 , A61B34/25 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00477 , A61B2017/00734 , A61B2034/252 , A61B2034/305 , A61B2090/0807 , B25J9/0084 , B25J9/1689
摘要： Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
摘要翻译： 医疗和/或机器人装置，系统和方法可以提供与多臂远程外科或远程外科系统的每个操纵器组件相关联的指示器。 示例性指示器包括安装到操纵器的多色发光二极管（LED），移动相关联的手术器械，允许指示器显示各种各样的信号。 本发明可以提供额外的用户界面以促进远程外科手术系统和/或远程外科手术团队的成员之间的通信。
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公开(公告)号：US09125679B2
公开(公告)日：2015-09-08
申请号：US13049003
申请日：2011-03-16
申请人： David Q. Larkin , David C. Shafer
发明人： David Q. Larkin , David C. Shafer
CPC分类号： A61B34/30 , A61B34/20 , A61B34/37 , A61B34/71 , A61B90/30 , A61B90/361 , A61B2017/00057 , A61B2017/00477 , A61B2017/0477 , A61B2017/2906 , A61B2034/2048 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/305 , A61B2090/3614 , B25J9/1635 , B25J18/06 , B25J19/025 , Y10S901/09 , Y10S901/28 , Y10S901/46 , Y10S901/47 , Y10T29/49826 , Y10T74/20305
摘要： A surgical instrument is provided, including: at least one articulatable arm having a distal end, a proximal end, and at least one joint region disposed between the distal and proximal ends; an optical fiber bend sensor provided in the at least one joint region of the at least one articulatable arm; a detection system coupled to the optical fiber bend sensor, said detection system comprising a light source and a light detector for detecting light reflected by or transmitted through the optical fiber bend sensor to determine a position of at least one joint region of the at least one articulatable arm based on the detected light reflected by or transmitted through the optical fiber bend sensor; and a control system comprising a servo controller for effectuating movement of the arm.
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3.发明授权Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide 有权控制器在进入和离开进入指南的过程中辅助重新配置关节式仪器公开(公告)号：US09084623B2
公开(公告)日：2015-07-21
申请号：US12613328
申请日：2009-11-05
申请人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
发明人： Daniel Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustafa
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
摘要翻译： 为了在医疗机器人系统中执行工具交换，工具从部署位置缩回到入口引导件中，并且构成使得手术室中的助手可以用不同的工具来替换它。 当工具通过用户操作被缩回到入口指南时，其配置被改变为入口姿势，同时避免与其他对象的碰撞，使得其可以适合入口指南。 在完成工具交换之后，在工具控制器通过重新配置来帮助用户之前，用户操作将一个新工具插入到引导件中，并将其从引导工具延伸到旧工具的原始位置，然后再将其退回到入口指南中 新工具，以便在退回到入门指南之前，将旧工具的原始部署姿态类似。
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4.发明授权Non-force reflecting method for providing tool force information to a user of a telesurgical system 有权用于向远程外科手术系统的用户提供工具力信息的非强制反射方法公开(公告)号：US08944070B2
公开(公告)日：2015-02-03
申请号：US11093372
申请日：2005-03-30
CPC分类号： A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
摘要： Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.
摘要翻译： 使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息， 以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。
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公开(公告)号：US08816628B2
公开(公告)日：2014-08-26
申请号：US13175519
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08786241B2
公开(公告)日：2014-07-22
申请号：US13175458
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08749189B2
公开(公告)日：2014-06-10
申请号：US13175477
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08624537B2
公开(公告)日：2014-01-07
申请号：US13175498
申请日：2011-07-01
IPC分类号： B25J15/02
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US08375808B2
公开(公告)日：2013-02-19
申请号：US11864974
申请日：2007-09-29
IPC分类号： G01L1/22
CPC分类号： B25J15/0009 , A61B17/3462 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B34/76 , A61B2034/2061 , A61B2034/305 , A61B2090/064
摘要： An apparatus, system, and method for improving force and torpg,que sensing and feedback to the surgeon performing a telerobotic surgery are provided. In one embodiment, a surgical instrument, a robotic surgical system, a cannula, a cannula seal, and a method for improved sensing of z-axis forces on a robotic surgical instrument are disclosed.
摘要翻译： 提供了一种用于改善力和torpg，对进行远程外科手术的外科医生进行检测和反馈的装置，系统和方法。 在一个实施例中，公开了一种外科器械，机器人手术系统，插管，插管密封件和用于改进对机器人手术器械上的z轴力的感测的方法。
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公开(公告)号：US20120277663A1
公开(公告)日：2012-11-01
申请号：US13549347
申请日：2012-07-13
CPC分类号： A61B34/30 , A61B34/37 , A61B34/71 , A61B34/74 , A61B2017/00203 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , A61B2217/005 , A61B2217/007 , A61M1/0035 , A61M1/0039 , A61M1/0058 , A61M13/003 , A61M2039/2473
摘要： In one embodiment of the invention, a robotic surgical instrument is provided for the control of flows of one or more fluids into and out of a surgical site. The robotic surgical instrument may include a housing, a flow control system, a hollow tube, and one or more hose fittings. The housing to couple the instrument to a robotic arm. The flow control system mounted in the housing includes one or more controlled valves to control the flow of one or more fluids. The hollow tube has a first end mounted in the housing coupled to the flow control system. A second end of the hollow tube has one or more openings to allow the flow of fluids into and out of the surgical site. The hose fittings have a first end coupled to the flow control system and a second end to couple to hoses.
摘要翻译： 在本发明的一个实施例中，提供了一种用于控制一个或多个流体流入和流出外科手术部位的流体的机器人手术器械。 机器人手术器械可以包括壳体，流量控制系统，中空管和一个或多个软管配件。 将仪器连接到机器手臂的外壳。 安装在壳体中的流量控制系统包括一个或多个控制阀，以控制一种或多种流体的流动。 中空管具有安装在联接到流量控制系统的壳体中的第一端。 中空管的第二端具有一个或多个开口，以允许流体流入和流出手术部位。 软管接头具有联接到流量控制系统的第一端和耦合到软管的第二端。
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