公开(公告)号：US20140200407A1

公开(公告)日：2014-07-17

申请号：US14162449

申请日：2014-01-23

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Caitlin Q. DONHOWE ,  Giuseppe Maria Prisco

IPC: A61B1/005 ,  A61B5/06

CPC classification number: A61B1/0055 ,  A61B1/00147 ,  A61B1/0051 ,  A61B5/065 ,  A61B2034/2061

Abstract: In a robotic endoscope system, the orientation of a captured camera view at a distal tip of a robotic endoscope and displayed on a screen viewable by an operator of the endoscope is automatically maintained at a roll orientation associated with a setpoint so as not to disorient the operator as the endoscope is moved, flexed and its tip turned in different orientations. A processor generates a current commanded state of the tip from operator input and modifies it to maintain the setpoint roll orientation. To generate the modified current commanded state, the current commanded roll position and velocity are constrained to be a modified current commanded roll position and velocity that have been modified according to a roll angular adjustment indicated by a prior process period commanded state of the tip and the setpoint. The processor then commands the robotic endoscope to be driven to the modified commanded state.

Abstract translation: 在机器人内窥镜系统中，在机器人内窥镜的远端的被捕获的摄像机视图的方向被显示在由内窥镜的操作者可视的屏幕上被自动地保持在与设定点相关的卷取向，以便不会使 当内窥镜被移动，弯曲并且其尖端以不同的方向转动时。 处理器从操作员输入产生尖端的当前命令状态并对其进行修改以保持设定点滚动方向。 为了产生修改的电流指令状态，当前指令的滚动位置和速度被限制为根据由尖端的先前处理周期指令状态指示的滚动角度调整而修改的修改的电流指令滚动位置和速度，并且 设定点。 然后处理器命令机器人内窥镜被驱动到修改的命令状态。

公开(公告)号：US20170000984A1

公开(公告)日：2017-01-05

申请号：US15257387

申请日：2016-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Vincent DUINDAM ,  Catherine J. MOHR ,  Carolyn M. FENECH ,  Giuseppe Maria PRISCO ,  Samuel Kwok Wai AU ,  Caitlin Q. DONHOWE

IPC: A61M25/06 ,  A61M25/01 ,  A61B5/06 ,  A61B1/01 ,  A61B1/00 ,  A61B10/04

CPC classification number: A61M25/0662 ,  A61B1/00006 ,  A61B1/00078 ,  A61B1/00154 ,  A61B1/0052 ,  A61B1/0057 ,  A61B1/01 ,  A61B1/018 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B5/6852 ,  A61B10/02 ,  A61B10/04 ,  A61B2017/00292 ,  A61B2017/00323 ,  A61B2017/00809 ,  A61B2017/22074 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2061 ,  A61B2034/301 ,  A61M25/003 ,  A61M25/0074 ,  A61M25/0113 ,  A61M25/0147 ,  A61M2025/0034 ,  A61M2025/0166

Abstract: A medical system includes a catheter and a vision probe that can be removed from the catheter and replaced with a medical probe. The vision probe can thus be used to steer and pose the catheter, and then be removed and replaced with the medical probe when a medical task such as a lung biopsy is performed. A sensor system in the catheter at least partly measures a pose of the catheter, and control logic controls actuation of the catheter to maintain the desired working configuration when the medical probe is used. A small diameter catheter can thus provide vision and biopsy functionality.

Abstract translation: 医疗系统包括导管和视觉探头，其可以从导管移除并用医疗探针代替。 因此，可以使用视觉探针来引导和构成导管，然后当执行诸如肺活检的医疗任务时，将其移除并替换为医疗探针。 导管中的传感器系统至少部分地测量导管的姿势，并且当使用医疗探针时，控制逻辑控制导管的致动以维持期望的工作构型。 因此，小直径导管可以提供视力和活检功能。