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公开(公告)号：US11547506B2
公开(公告)日：2023-01-10
申请号：US17558153
申请日：2021-12-21
摘要： Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.
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公开(公告)号：US11432895B2
公开(公告)日：2022-09-06
申请号：US16433759
申请日：2019-06-06
发明人： Alan E. Loh , Roman L. Devengenzo
IPC分类号： A61B34/00 , A61B1/00 , A61B34/30 , A61B34/37 , B25J9/10 , A61B90/00 , A61B17/00 , A61B46/23 , G16H40/63 , A61B34/35 , A61B90/98 , B25J9/16
摘要： A telesurgical manipulator comprises a surgical instrument, an instrument holder adapted to releasably mount the surgical instrument, an electrically-isolating and sterile drape, an instrument interface included on the instrument holder, and a communication device disposed on the instrument holder. The instrument interface is operably couplable to the surgical instrument via a sterile adaptor that secures the electrically-isolating and sterile drape to the instrument interface. The electrically-isolating and sterile drape permits communication between the surgical instrument and the instrument holder while maintaining an electrically-isolating and sterile barrier therebetween. The communication device wirelessly communicates with the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween, and wirelessly provides power to the surgical instrument, with the electrically-isolating and sterile drape disposed therebetween.
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公开(公告)号：US20220151715A1
公开(公告)日：2022-05-19
申请号：US17591196
申请日：2022-02-02
发明人： Bruce Michael Schena , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
摘要： A robotic surgery system includes a mounting base, a column base fixedly coupled with the mounting base, a translatable column member slideably coupled to the column base, an orienting platform coupled with the translatable column member, outer set-up linkages, and outer surgical instrument manipulators. Each of the outer set-up linkages is rotationally coupled to and supported by the orienting platform. Each of the outer set-up linkages includes an extension link, a coupling link, and a first joint that couples the respective coupling link to the respective extension link. Each of the outer surgical instrument manipulators is operable to selectively articulate a respective surgical instrument mounted to the outer surgical instrument manipulator and to insert the surgical instrument along an insertion axis through a remote center of manipulation.
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公开(公告)号：US10779902B2
公开(公告)日：2020-09-22
申请号：US16102614
申请日：2018-08-13
摘要： A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.
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公开(公告)号：US10575908B2
公开(公告)日：2020-03-03
申请号：US15156231
申请日：2016-05-16
发明人： Bruce Michael Schena , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
摘要： A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.
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公开(公告)号：US10390894B2
公开(公告)日：2019-08-27
申请号：US15139224
申请日：2016-08-11
摘要： A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
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公开(公告)号：US10335242B2
公开(公告)日：2019-07-02
申请号：US14542126
申请日：2014-11-14
摘要： A method comprises receiving an input at a control system indicating a status change for a first tool coupled to a first manipulator assembly of a telesurgical system. The status change is correlated to a procedure to decouple the first tool from the first manipulator assembly or manually reconfigure the first manipulator assembly. The method also includes transmitting a command to the first manipulator assembly. Responsive to the transmitted command, a multiple-color light emitting diode array in an indicator section on the first manipulator assembly is activated to generate a signal indicating a reconfiguration action for the first tool or the first manipulator assembly to a first user.
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公开(公告)号：US09675422B2
公开(公告)日：2017-06-13
申请号：US15147608
申请日：2016-05-05
CPC分类号： A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1643 , B25J9/1676 , G05B2219/39091 , G05B2219/39135 , G05B2219/40202 , G05B2219/40362 , G05B2219/40371 , G05B2219/40476 , G05B2219/40492 , G05B2219/45117
摘要： Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
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公开(公告)号：US20160331478A1
公开(公告)日：2016-11-17
申请号：US15156231
申请日：2016-05-16
发明人： Bruce Michael Schena , Roman L. Devengenzo , Scott Luke , David Martin , Thomas G. Cooper , Thomas Brown
摘要： A robotic surgery system includes an orienting platform, a support linkage movably supporting the orienting platform, a plurality of surgical instrument manipulators, and a plurality of set-up linkages. Each of the manipulators includes an instrument holder and is operable to rotate the instrument holder around a remote center of manipulation (RC). At least one of the manipulators includes a reorientation mechanism that when actuated moves the attached manipulator through a motion that maintains the associated RC in a fixed position.
摘要翻译： 机器人手术系统包括定向平台，可移动地支撑定向平台的支撑连杆，多个手术器械操纵器和多个安装连杆。 每个操纵器包括一个仪器支架，并可操作以使仪器支架围绕一个远程操纵中心（RC）旋转。 操纵器中的至少一个包括重新定向机构，当被致动时，所连接的操纵器通过将相关RC保持在固定位置的运动而移动。
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公开(公告)号：US09339344B2
公开(公告)日：2016-05-17
申请号：US13906949
申请日：2013-05-31
CPC分类号： A61B34/30 , A61B34/37 , A61B2017/00477 , A61B2090/506
摘要： A remote center manipulator for use in minimally invasive robotic surgery includes a base link held stationary relative to a patient, an instrument holder, and a linkage coupling the instrument holder to the base link. First and second links of the linkage are coupled to limit motion of the second link to rotation about a first axis intersecting a remote center of manipulation. A parallelogram linkage portion of the linkage pitches the instrument holder around a second axis that intersects the remote center of manipulation. The second axis is angularly offset from the first axis by a non-zero angle other than 90 degrees.
摘要翻译： 用于微创机器人手术的远程中心操纵器包括相对于患者保持固定的基座连接件，仪器夹持器和将仪器夹持器连接到基座连杆的连杆。 联动装置的第一和第二连杆被联接以限制第二连杆围绕与远程操纵中心相交的第一轴线的转动。 连杆的平行四边形连杆部分将仪器夹持器围绕与远程操纵中心相交的第二轴线。 第二轴与第一轴成90度角以外的非零角度偏移。
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