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公开(公告)号：US12097002B2
公开(公告)日：2024-09-24
申请号：US17332928
申请日：2021-05-27
IPC分类号： A61B34/37 , A61B1/00 , A61B34/00 , A61B34/30 , A61B90/00 , A61B1/005 , A61B1/018 , A61B17/00 , A61B17/34 , A61B34/20
CPC分类号： A61B34/37 , A61B1/00087 , A61B34/30 , A61B34/71 , A61B34/72 , A61B90/361 , A61B90/37 , A61B1/00193 , A61B1/0055 , A61B1/018 , A61B2017/00278 , A61B2017/00694 , A61B2017/3447 , A61B34/20 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： In a coupled control mode, an operator directly controls movement of an associated manipulator with an input device while indirectly controlling movement of one or more non-associated manipulators, in response to commanded motion of the directly controlled manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the operator's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the operator to better focus on performing tasks and to pay less attention to managing the system.
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公开(公告)号：US12089809B2
公开(公告)日：2024-09-17
申请号：US18302698
申请日：2023-04-18
IPC分类号： A61B34/30 , A61B1/00 , A61B1/002 , A61B1/005 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/00 , A61B8/12 , A61B17/00 , A61B34/00 , A61B34/37 , A61B90/10 , A61B17/34 , A61B34/20 , A61B90/00
CPC分类号： A61B1/00087 , A61B1/00149 , A61B1/00154 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0051 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/0034 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B90/361
摘要： A surgical instrument manipulator comprises a manipulator arm and an instrument mounting structure rotatably mounted to the manipulator arm. The instrument mounting structure comprises: an attachment interface configured to removably couple to a surgical instrument; and a passage within the instrument mounting structure. When the surgical instrument is coupled to the attachment interface, the surgical instrument is fixed to the instrument mounting structure. An elongate body of the surgical instrument extends through the passage when the surgical instrument is coupled to the attachment interface. The instrument mounting structure is rotatable relative to the manipulator arm, and when the surgical instrument is coupled to the attachment interface, rotation of the instrument mounting structure with respect to the manipulator arm causes rotation of the surgical instrument.
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公开(公告)号：US11992936B2
公开(公告)日：2024-05-28
申请号：US16881568
申请日：2020-05-22
发明人： Anthony K. McGrogan , Thomas G. Cooper , David Q. Larkin , Kent M. Anderson , Jeffrey D. Brown , Paul E. Lilagan , Michael Ikeda
CPC分类号： B25J15/0028 , A61B34/30 , A61B34/70 , A61B90/50 , A61B90/90 , A61B2017/3445 , A61B2034/301 , A61B2034/305 , Y10S901/36 , Y10S901/38 , Y10S901/39
摘要： A surgical system uses a single entry port in a wide variety of surgeries. To insert multiple surgical instruments into a patient through a single entry port requires that the shaft of at least one of the surgical instruments be bent between the base of the surgical instrument and the point where the shaft contacts a channel in an entry guide. Each surgical instrument is positioned by an instrument manipulator positioning system so that when the shaft is inserted in a channel of the entry guide, any bending of the shaft does not damage the surgical instrument and does not inhibit proper operation of the surgical instrument.
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114.发明公开公开(公告)号：US20240016556A1
公开(公告)日：2024-01-18
申请号：US18373695
申请日：2023-09-27
CPC分类号： A61B34/30 , B25J9/1689 , B25J9/1697 , A61B90/361 , A61B34/37 , A61B2034/2065
摘要： A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
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公开(公告)号：US20230414301A1
公开(公告)日：2023-12-28
申请号：US18331033
申请日：2023-06-07
发明人： David Q. Larkin , David C. Shafer
IPC分类号： A61B34/30 , A61B34/20 , A61B34/00 , A61B90/30 , A61B34/37 , B25J9/16 , B25J18/06 , B25J19/02
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B90/30 , A61B34/37 , A61B2017/00057 , B25J18/06 , B25J19/025 , Y10T29/49826 , Y10T74/20305 , B25J9/1635
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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116.发明授权公开(公告)号：US11723733B2
公开(公告)日：2023-08-15
申请号：US17321115
申请日：2021-05-14
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC分类号： A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
摘要： Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.
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公开(公告)号：US20230148897A1
公开(公告)日：2023-05-18
申请号：US18154211
申请日：2023-01-13
IPC分类号： A61B5/06 , A61B17/3209 , A61B10/02 , A61B17/34 , A61B34/20
CPC分类号： A61B5/065 , A61B17/3209 , A61B10/0233 , A61B17/3468 , A61B34/20 , A61B5/062 , A61B2017/00991
摘要： A surgical system includes a flexible steerable needle and a shape sensor for measuring the shape of the needle. The surgical system can be manual (e.g., laparoscopic), robotic, or any combination of the two. By directly measuring the shape of the needle, complex and potentially inaccurate modeling of the needle to determine trajectory and insertion depth can be avoided in favor of much more robust direct measurement and modeling of needle shape and/or pose.
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公开(公告)号：US11638999B2
公开(公告)日：2023-05-02
申请号：US16932373
申请日：2020-07-17
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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公开(公告)号：US11583204B2
公开(公告)日：2023-02-21
申请号：US16837159
申请日：2020-04-01
IPC分类号： A61B17/34 , A61B5/06 , A61B17/3209 , A61B10/02 , A61B34/20 , A61B17/00 , A61B34/10 , A61B10/04
摘要： A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.
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公开(公告)号：US20220354602A1
公开(公告)日：2022-11-10
申请号：US17752975
申请日：2022-05-25
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.
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