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公开(公告)号：US10512514B2
公开(公告)日：2019-12-24
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：US10398520B2
公开(公告)日：2019-09-03
申请号：US15963825
申请日：2018-04-26
IPC分类号： A61B1/00 , A61B1/04 , A61B1/05 , A61B1/06 , A61B1/002 , A61B1/005 , A61B1/018 , A61B17/00 , A61B17/34 , A61B34/00 , A61B34/20 , A61B34/30 , A61B34/37 , A61B5/00 , A61B8/12 , A61B90/10 , A61B90/00
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：US10376321B2
公开(公告)日：2019-08-13
申请号：US14916854
申请日：2014-09-11
IPC分类号： A61B34/20 , A61B17/32 , A61B5/053 , A61B17/17 , A61B46/00 , A61B10/04 , A61B17/16 , A61B34/30 , A61B90/00 , A61B17/08 , A61B18/00
摘要： A method comprises receiving first shape data from a first elongated optical fiber section in a first shape sensor. The first elongated optical fiber section extends between a reference fixture and a first anatomic fixture coupled to a patient anatomy. The method further comprises determining a pose of the first anatomic fixture from the first shape data and tracking a pose change for the first anatomic fixture.
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公开(公告)号：US20190213770A1
公开(公告)日：2019-07-11
申请号：US16351444
申请日：2019-03-12
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian David Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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公开(公告)号：US10188472B2
公开(公告)日：2019-01-29
申请号：US15094721
申请日：2016-04-08
IPC分类号： G06F19/00 , A61B34/37 , A61B34/30 , A61B1/00 , A61B34/00 , A61B90/00 , A61B34/20 , A61B1/005 , A61B1/018 , A61B17/00 , A61B17/34
摘要： In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
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公开(公告)号：US10117714B2
公开(公告)日：2018-11-06
申请号：US15488173
申请日：2017-04-14
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：US20180225855A1
公开(公告)日：2018-08-09
申请号：US15946408
申请日：2018-04-05
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
IPC分类号： G06T11/60 , B25J9/16 , A61B34/30 , A61B34/37 , A61B90/00 , G05B19/42 , G06T11/40 , A61B34/00 , A61B34/20
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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公开(公告)号：US10008017B2
公开(公告)日：2018-06-26
申请号：US13768047
申请日：2013-02-15
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
IPC分类号： G06T11/60 , G06T11/40 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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公开(公告)号：US09883914B2
公开(公告)日：2018-02-06
申请号：US14813944
申请日：2015-07-30
发明人： David Q. Larkin , David C. Shafer
IPC分类号： A61B19/00 , B25J19/02 , B25J9/16 , B25J18/06 , A61B34/30 , A61B34/00 , A61B90/30 , A61B34/37 , A61B17/00 , A61B17/29 , A61B17/04 , A61B34/20 , A61B90/00
CPC分类号： A61B34/30 , A61B34/20 , A61B34/37 , A61B34/71 , A61B90/30 , A61B90/361 , A61B2017/00057 , A61B2017/00477 , A61B2017/0477 , A61B2017/2906 , A61B2034/2048 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/305 , A61B2090/3614 , B25J9/1635 , B25J18/06 , B25J19/025 , Y10S901/09 , Y10S901/28 , Y10S901/46 , Y10S901/47 , Y10T29/49826 , Y10T74/20305
摘要： An apparatus comprises a robotic manipulator and a surgical instrument mounted to the robotic manipulator. The surgical instrument comprises an elongate arm including an actively controlled bendable region including at least one joint region and an end effector and a passively bendable region including a distal end coupled to the actively controlled bendable region. An actuation mechanism extends through the passively bendable region and is coupled to the at least one joint region to control the actively controlled bendable region. A channel extends through the elongate arm, and an optical fiber is 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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公开(公告)号：US20180028268A1
公开(公告)日：2018-02-01
申请号：US15726733
申请日：2017-10-06
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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