摘要:
A data packet is provided that includes a synchronization field and an acknowledgement field indicative of an acknowledgement of receipt of a prior data packet. The data packet also includes a response field that includes information indicative of a system fault, a header field, and a sequence number field that includes a number assigned to the data packet. The data packet further includes a data field, an end of packet field, and an error-checking field. Methods and computer program products are provided that, in some implementations, include retransmitting packets if the acknowledgement field in a received data packet is a no acknowledgement (NAK) and/or placing a node into a safe state in response to a fault signal that is included in the received data packet.
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.
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.
摘要:
A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.
摘要:
A robotic surgical system is configured with rigid, curved cannulas that extend through the same opening into a patient's body. Surgical instruments with passively flexible shafts extend through the curved cannulas. The cannulas are oriented to direct the instruments towards a surgical site. Various port features that support the curved cannulas within the single opening are disclosed. In one aspect, surgical instrument channels extend at different angles between top and bottom surfaces of a port feature. In another aspect, a funnel portion and a tongue portion are separated by a waist portion, and surgical instrument channels extend from the funnel portion through the waist portion. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed. A teleoperation control system that moves the curved cannulas and their associated instruments in a manner that allows a surgeon to experience intuitive control is disclosed.
摘要:
A bend sensor is used to determine force applied to a robotic arm. The force may be an external force applied to the arm, an internal actuation force, or both. In some aspects, a stiffening element is used to restore the arm to a minimum kinematic energy state. In other aspects, the stiffening element is eliminated, and the arm is fully actuated.
摘要:
Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
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:
In one embodiment, a force sensing robotic surgical instrument includes a proximal housing linkable with a surgical robot arm, a shaft having a proximal portion and a distal portion, the proximal portion operably coupled to the housing, and a force transducer operably coupled to the distal portion of the shaft, the force transducer having a proximal portion, a distal portion, a plurality of radial ribs, and a strain gauge positioned over each of the plurality of radial ribs, the radial ribs forming a plurality of through passages. The instrument further includes a wrist mechanism coupled to the distal portion of the force transducer, an end effector coupled to the wrist mechanism, and a flush manifold that receives a liquid from the proximal portion of the shaft and directs the liquid along a first subset of through passages of the force transducer toward the distal portion of the force transducer. A plenum at the distal portion of the force transducer collects the liquid from the first subset of through passages and redirects the liquid back toward the proximal portion of the shaft along a second subset of through passages different from the first subset of through passages.
摘要:
A caster assembly includes a primary wheel and a secondary wheel. As the caster assembly is rolled against and over an obstacle threshold, the secondary wheel is positioned to contact the obstacle threshold first. As the caster assembly begins to roll over the threshold, the secondary wheel lifts the caster assembly part way. As the caster assembly continues to roll over the threshold, the primary wheel contacts the threshold and lifts the caster assembly over the obstacle threshold. One or more secondary or primary wheels may be used. The secondary wheel or wheels may be positioned to remain within a sweep volume of the primary wheel as the caster assembly swivels around a caster swivel axis.