公开(公告)号：US09743990B2

公开(公告)日：2017-08-29

申请号：US14751636

申请日：2015-06-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Giuseppe Maria Prisco

IPC: A61B34/00 ,  A61B19/00 ,  A61B34/30

CPC classification number: A61B34/30 ,  A61B2034/301 ,  A61B2034/306 ,  A61B2034/715

Abstract: A medical instrument system includes a plurality of joints, a plurality of actuators, and a plurality of transmission systems. The transmission systems have proximal ends respectively coupled to the actuators. Each of the transmission systems have a distal end attached to an associated one of the joints to allow the transmission of a force for articulation of the medical instrument system. The system also includes a sensor coupled to measure a configuration of the medical instrument; and a control system coupled to receive configuration data, including a current configuration of a tip of the medical instrument from the sensor and a desired configuration of the tip of the medical instrument. Using the difference between the desired configuration and the current configuration of the tip of the medical instrument, the control system generates control signals for the actuators that cause the actuators to apply a set of tensions to the plurality of transmission systems.

公开(公告)号：US09402689B2

公开(公告)日：2016-08-02

申请号：US14932117

申请日：2015-11-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

IPC: A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

公开(公告)号：US09283050B2

公开(公告)日：2016-03-15

申请号：US14523270

申请日：2014-10-24

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Giuseppe Maria Prisco ,  Samuel Au

IPC: A61B19/00 ,  A61B17/02 ,  A61M25/00 ,  A61B1/00 ,  A61M25/01 ,  A61B1/313 ,  A61B17/34 ,  A61B17/29 ,  A61B17/00 ,  A61B17/04

CPC classification number: A61B34/37 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/313 ,  A61B17/0218 ,  A61B17/3421 ,  A61B17/3423 ,  A61B17/3431 ,  A61B17/3439 ,  A61B17/3462 ,  A61B17/3474 ,  A61B17/3498 ,  A61B34/10 ,  A61B34/30 ,  A61B34/71 ,  A61B34/73 ,  A61B34/76 ,  A61B90/03 ,  A61B90/37 ,  A61B90/50 ,  A61B90/90 ,  A61B90/92 ,  A61B2017/00473 ,  A61B2017/00526 ,  A61B2017/00845 ,  A61B2017/0419 ,  A61B2017/2904 ,  A61B2017/2905 ,  A61B2017/2929 ,  A61B2017/2936 ,  A61B2017/2948 ,  A61B2017/3419 ,  A61B2017/3429 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/3454 ,  A61B2017/3466 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/305 ,  A61M25/0041 ,  A61M25/0105 ,  Y10S901/00

Abstract: 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. 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. The flexible shaft instruments are controlled as if extending along a virtual straight line insertion and withdrawal axis. Various port features that support the curved cannulas within the single opening are disclosed. Cannula support fixtures that support the cannulas during insertion into the single opening and mounting to robotic manipulators are disclosed.

Abstract translation: 机器人手术系统配置有刚性的弯曲插管，其穿过相同的开口延伸到患者体内。 具有被动柔性轴的手术器械延伸穿过弯曲的插管。 插管被定向以将器械引导到外科手术部位。 公开了一种远程操作控制系统，其以允许外科医生体验直观控制的方式移动弯曲插管及其相关联的器械。 柔性轴仪器被控制好像沿着虚拟直线插入和退出轴线延伸。 公开了支撑单个开口内的弯曲插管的各种端口特征。 公开了在插入单个开口期间支撑插管并且安装到机器人操纵器的插管支撑固定装置。

公开(公告)号：US09198730B2

公开(公告)日：2015-12-01

申请号：US14490090

申请日：2014-09-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

IPC: A61B17/00 ,  A61B19/00 ,  B25J9/16

CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

Abstract translation: 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

公开(公告)号：US09011021B2

公开(公告)日：2015-04-21

申请号：US14136596

申请日：2013-12-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  Giuseppe Maria Prisco

IPC: G02B6/36 ,  G01B11/16 ,  G01D5/353 ,  G01D11/24 ,  G01M11/08 ,  A61B19/00 ,  G02B6/02 ,  G02B6/38

CPC classification number: G02B6/38 ,  A61B34/30 ,  A61B2034/2061 ,  B33Y80/00 ,  G01B11/165 ,  G01D5/35303 ,  G01D5/35316 ,  G01D5/35377 ,  G01D11/245 ,  G01M11/083 ,  G02B6/022 ,  G02B6/3616 ,  G02B6/3644 ,  G02B6/3887 ,  Y10T29/49826 ,  Y10T29/49838 ,  Y10T29/49947

Abstract: A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.

Abstract translation: 第一连杆和第二连杆通过联接在第一和第二连杆之间的连接件相对于彼此铰接。 形状感测光纤用于感测第一连杆和第二连杆相对于彼此的位置。 纤维通过具有限定唇缘的开口的通道，并且从第一连接件向接头延伸。 唇缘具有基本上与通道的壁相切的弯曲表面，并且在光纤弯曲期间，光纤被定位成与唇缘的弯曲表面相切。

公开(公告)号：US20140350391A1

公开(公告)日：2014-11-27

申请号：US14452302

申请日：2014-08-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  Vincent Duindam

IPC: A61B5/06 ,  A61B1/00

CPC classification number: A61B5/066 ,  A61B1/00009 ,  A61B1/0002 ,  A61B1/00045 ,  A61B1/0005 ,  A61B1/00055 ,  A61B1/00147 ,  A61B1/0016 ,  A61B1/00165 ,  A61B1/00193 ,  A61B1/0051 ,  A61B1/01 ,  A61B1/05 ,  A61B1/273 ,  A61B2034/2061

Abstract: Landmark directional guidance is provided to an operator of an endoscopic device by displaying graphical representations of vectors adjacent a current image captured by an image capturing device disposed at a tip of the endoscopic device and being displayed at the time on a display screen, wherein the graphical representations of the vectors point in directions that the endoscope tip is to be steered in order to move towards associated landmarks such as anatomic structures in a patient.

Abstract translation: 通过显示邻近由设置在内窥镜装置的尖端处的图像捕获装置拍摄的当前图像的矢量的向量的图形表示并且在此时显示在显示屏幕上，向内窥镜装置的操作者提供地标方向引导，其中图形 矢量的表示指向内窥镜尖端要转向以朝向相关联的标志（例如患者的解剖结构）移动的方向。

公开(公告)号：US20140180063A1

公开(公告)日：2014-06-26

申请号：US14048331

申请日：2013-10-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Giuseppe Maria Prisco

IPC: A61B5/06

CPC classification number: A61B5/066 ,  A61B1/0005 ,  A61B1/2676 ,  A61B5/0059 ,  A61B5/064 ,  A61B6/12 ,  A61B6/5247 ,  A61B8/0841 ,  A61B8/5261 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/365 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30004

Abstract: Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

Abstract translation: 从从解剖结构移动的医疗装置的远端的角度拍摄的连续图像提取的信息与从解剖结构的计算机模型提取的相应信息进行比较。 然后使用与一组潜在匹配相关联的概率来确定从顺序图像提取的信息和从计算机模型提取的对应信息之间的最可能匹配，以将解剖结构的计算机模型注册到医疗装置，从而 确定医疗设备当前处于解剖结构的内腔。传感器信息可用于限制潜在匹配的集合。 与图像序列和潜在匹配集相关联的特征属性可以作为确定最可能匹配的一部分进行定量比较。

公开(公告)号：US20140128849A1

公开(公告)日：2014-05-08

申请号：US14068127

申请日：2013-10-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Samuel Kwok Wai Au ,  Stephen J. Blumenkranz ,  Giuseppe Maria Prisco

IPC: A61B17/00

CPC classification number: A61B17/00 ,  A61B34/30 ,  A61B34/71 ,  A61B2034/715

Abstract: A medical instrument including a shaft and an actuated structure mounted at a distal end of the shaft can employ a pair of tendons connected to the actuated structure, extending down the shaft, and respectively wound around a capstan in opposite directions. A preload system may be coupled to maintain minimum tensions in the tendons.

Abstract translation: 包括安装在轴的远端处的轴和致动结构的医疗器械可以使用连接到致动结构的一对腱，沿轴向下延伸，并且在相反方向上分别卷绕在绞盘上。 可以联接预加载系统以维持腱中的最小张力。

公开(公告)号：US20140105534A1

公开(公告)日：2014-04-17

申请号：US14136596

申请日：2013-12-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Theodore W. Rogers ,  Giuseppe Maria Prisco

IPC: G01B11/16

CPC classification number: G02B6/38 ,  A61B34/30 ,  A61B2034/2061 ,  B33Y80/00 ,  G01B11/165 ,  G01D5/35303 ,  G01D5/35316 ,  G01D5/35377 ,  G01D11/245 ,  G01M11/083 ,  G02B6/022 ,  G02B6/3616 ,  G02B6/3644 ,  G02B6/3887 ,  Y10T29/49826 ,  Y10T29/49838 ,  Y10T29/49947

Abstract: A first link and a second link are articulated relative to each other via a joint coupled between the first and second links. A shape-sensing optical fiber is used to sense a position of the first link and the second link relative to each other. The fiber passes through a channel having an opening defining a lip and extending from the first link toward the joint. The lip has a curved surface that begins substantially tangent to a wall of the channel, and during bending of the optical fiber, the optical fiber is positioned tangent to the curved surface of the lip.

Abstract translation: 第一连杆和第二连杆通过联接在第一和第二连杆之间的连接件相对于彼此铰接。 形状感测光纤用于感测第一连杆和第二连杆相对于彼此的位置。 纤维通过具有限定唇缘的开口的通道，并且从第一连接件向接头延伸。 唇缘具有基本上与通道的壁相切的弯曲表面，并且在光纤弯曲期间，光纤被定位成与唇缘的弯曲表面相切。

公开(公告)号：US20130204124A1

公开(公告)日：2013-08-08

申请号：US13751462

申请日：2013-01-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Vincent Duindam ,  Giuseppe Maria Prisco ,  David Q. Larkin ,  Simon P. DiMaio ,  Dorin Panescu

IPC: A61B5/06 ,  A61B17/3209

CPC classification number: A61B5/065 ,  A61B5/062 ,  A61B10/0233 ,  A61B17/3209 ,  A61B17/3403 ,  A61B17/3468 ,  A61B34/20 ,  A61B2010/045 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061

Abstract: 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.

Abstract translation: 手术系统包括柔性可转向针和用于测量针的形状的形状传感器。 手术系统可以是手动（例如，腹腔镜），机器人或两者的任何组合。 通过直接测量针的形状，可以避免针的复杂和潜在的不精确建模以确定轨迹和插入深度，有利于针状和/或姿态的更加鲁棒的直接测量和建模。