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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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123.发明申请公开(公告)号：US20220175475A1
公开(公告)日：2022-06-09
申请号：US17677866
申请日：2022-02-22
摘要： A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes 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 includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.
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公开(公告)号：US20210346107A1
公开(公告)日：2021-11-11
申请号：US17379379
申请日：2021-07-19
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：US11135023B2
公开(公告)日：2021-10-05
申请号：US15870116
申请日：2018-01-12
发明人： David Q. Larkin , David C. Shafer
IPC分类号： A61B34/20 , A61B34/30 , A61B34/00 , A61B90/30 , A61B34/37 , B25J9/16 , B25J18/06 , B25J19/02 , A61B17/00 , A61B17/29 , A61B90/00 , A61B17/04
摘要： An apparatus comprises a surgical instrument mountable to a robotic manipulator. The surgical instrument comprises an elongate arm. The elongate arm comprises an actively controlled bendable region including at least one joint region, a passively bendable region including a distal end coupled to the actively controlled bendable region, an actuation mechanism extending through the passively bendable region and coupled to the at least one joint region to control the actively controlled bendable region, and a channel extending through the elongate arm. The surgical instrument also comprises an optical fiber positioned in the channel. The optical fiber includes an optical fiber bend sensor in at least one of the passively bendable region or the actively controlled bendable region.
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126.发明申请公开(公告)号：US20200331147A1
公开(公告)日：2020-10-22
申请号：US16921995
申请日：2020-07-07
发明人： David Q. Larkin , Thomas R. Nixon , David S. Mintz
IPC分类号： B25J9/16 , A61B17/00 , A61B1/00 , A61B90/00 , A61B34/20 , A61B1/005 , A61B34/30 , A61B1/04 , A61B1/313 , A61B34/10 , A61B34/00 , A61B34/37
摘要： An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
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公开(公告)号：US10792107B2
公开(公告)日：2020-10-06
申请号：US15371158
申请日：2016-12-06
IPC分类号： A61B34/20 , A61B5/06 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/10 , A61B5/00
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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128.发明授权公开(公告)号：US10773388B2
公开(公告)日：2020-09-15
申请号：US15459175
申请日：2017-03-15
发明人： David Q. Larkin , David S. Mintz , Thomas R. Nixon
IPC分类号： B25J9/16 , A61B17/00 , A61B1/00 , A61B90/00 , A61B34/20 , A61B1/005 , A61B34/30 , A61B1/04 , A61B1/313 , A61B34/10 , A61B34/00 , A61B34/37
摘要： An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
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129.发明授权公开(公告)号：US10730187B2
公开(公告)日：2020-08-04
申请号：US15638172
申请日：2017-06-29
发明人： David Q. Larkin , Thomas R. Nixon , David S. Mintz
IPC分类号： A61B17/00 , A61B1/00 , A61B34/20 , A61B34/30 , A61B1/04 , A61B34/10 , A61B34/00 , A61B34/37 , B25J9/16 , A61B90/00 , A61B1/005 , A61B1/313
摘要： An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
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公开(公告)号：US10710246B2
公开(公告)日：2020-07-14
申请号：US15327322
申请日：2015-08-12
发明人： Anthony K. McGrogan , Thomas G. Cooper , David Q. Larkin , Kent M. Anderson , Jeffrey D. Brown , Paul E. Lilagan , Michael Ikeda
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 (262A1) of at least one (260A1) of the surgical instruments be bent between the base of the surgical instrument (260A1) and the point where the shaft contacts a channel in an entry guide (270A). Each surgical instrument (260A1, 260A2) is positioned by an instrument manipulator positioning system (231A) so that when the shaft is inserted in a channel of the entry guide (270A), 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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