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公开(公告)号：US10105188B2
公开(公告)日：2018-10-23
申请号：US15345029
申请日：2016-11-07
发明人： David Q. Larkin , Vincent Duindam
摘要： An apparatus comprises a continuously flexible device and an actuation mechanism that acts to bend and straighten the continuously flexible device. The apparatus also includes a sensor apparatus that generates bend information about at least a portion of the continuously flexible device. The apparatus also includes an electronic data processor. The electronic data processor generates (i) external force information about at least one of a magnitude or a direction of an external force applied to the continuously flexible device, or (ii) both the external force information and internal force information about a bending force applied to the continuously flexible device by the actuation mechanism from (a) the generated bend information and (b) information representing at least one mechanical property of the continuously flexible device.
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公开(公告)号：US09980630B2
公开(公告)日：2018-05-29
申请号：US14716695
申请日：2015-05-19
IPC分类号： A61B1/00 , A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B1/018 , A61B1/002 , A61B1/04 , A61B1/06 , A61B5/00 , A61B8/12 , A61B1/05 , A61B17/00 , A61B90/10 , A61B34/00 , A61B34/20 , A61B1/005 , A61B17/34 , A61B90/00
CPC分类号： A61B1/00149 , A61B1/00087 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： The distal end of a surgical instrument is movable in all six Cartesian degrees of freedom independently of other components of a telemanipulated surgical system. The surgical instrument extends through a guide tube. The distal end is moved by actuators that are telemanipulatively controlled.
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公开(公告)号：US20180064493A1
公开(公告)日：2018-03-08
申请号：US15806920
申请日：2017-11-08
CPC分类号： A61B34/10 , A61B34/30 , A61B34/35 , A61B2017/00314 , A61B2017/00398 , A61B2017/00407 , A61B2017/00725 , A61B2017/2902 , A61B2017/292 , A61B2017/2946 , Y10S901/31
摘要： A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.
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公开(公告)号：US20180042687A1
公开(公告)日：2018-02-15
申请号：US15790767
申请日：2017-10-23
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 in 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 methods for their use are also provided.
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公开(公告)号：US20170354318A1
公开(公告)日：2017-12-14
申请号：US15660673
申请日：2017-07-26
IPC分类号： A61B1/00 , A61B34/00 , A61B34/37 , A61B34/30 , A61B1/005 , A61B17/00 , A61B1/018 , A61B17/29 , A61B17/34 , A61B34/20
CPC分类号： A61B1/0051 , A61B1/00039 , A61B1/00087 , A61B1/00128 , A61B1/00133 , A61B1/00135 , A61B1/00193 , A61B1/005 , A61B1/0052 , A61B1/0055 , A61B1/0057 , A61B1/0058 , A61B1/008 , A61B1/01 , A61B1/018 , A61B17/29 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B2017/003 , A61B2017/00323 , A61B2017/00327 , A61B2017/3445 , A61B2017/3447 , A61B2017/347 , A61B2034/2061 , A61B2034/301 , A61B2034/306
摘要： An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool. The first steering device is insertable into the instrument lumen to shape the guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.
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96.发明授权公开(公告)号：US09827057B2
公开(公告)日：2017-11-28
申请号：US14997257
申请日：2016-01-15
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , B25J9/1689 , B25J9/1697
摘要： A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
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公开(公告)号：US20170312036A1
公开(公告)日：2017-11-02
申请号：US15650804
申请日：2017-07-14
IPC分类号： A61B34/20 , A61B34/30 , A61B34/37 , A61B1/04 , A61B90/00 , A61B1/313 , A61B5/06 , A61B1/00 , A61B34/10 , A61B5/00
CPC分类号： A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US09788909B2
公开(公告)日：2017-10-17
申请号：US14076833
申请日：2013-11-11
发明人： David Q. Larkin , Brian D. Hoffman , Paul W. Mohr
IPC分类号： A61B17/00 , A61B34/20 , A61B19/00 , B25J9/16 , A61B90/00 , A61B34/30 , A61B34/37 , A61B1/00 , A61B1/04
CPC分类号： A61B34/20 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/04 , A61B17/00234 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/36 , A61B2017/00314 , A61B2017/00323 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/371 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123 , G05B2219/45169 , G06T7/0012
摘要： A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
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99.发明申请公开(公告)号：US20170258537A1
公开(公告)日：2017-09-14
申请号：US15607676
申请日：2017-05-29
发明人： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, JR. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20170215975A1
公开(公告)日：2017-08-03
申请号：US15488219
申请日：2017-04-14
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 in 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 methods for their use are also provided.
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