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公开(公告)号：US11890068B2
公开(公告)日：2024-02-06
申请号：US17459571
申请日：2021-08-27
发明人： David Q. Larkin , Vincent Duindam
CPC分类号： A61B34/30 , A61B34/77 , B25J9/1689 , B25J13/025 , B25J18/06 , G01L5/226 , A61B2034/301 , Y10S901/15 , Y10S901/17 , Y10S901/46
摘要： A robotic surgical system includes a surgical instrument and a processor. The surgical instrument includes an elongate hollow shaft having a flexible section, a sensor apparatus configured to generate sensor data about the flexible section, and a force transmission mechanism coupled to the proximal end of the shaft. The processor is communicatively coupled to the sensor apparatus. The processor is configured to receive the sensor data about the flexible section from the sensor apparatus and to combine the sensor data received from the sensor apparatus with known information regarding mechanical and material property data for the surgical instrument to derive at least one of an internal actuation force applied by the force transmission mechanism or external force information for the surgical instrument.
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公开(公告)号：US11883109B2
公开(公告)日：2024-01-30
申请号：US17062963
申请日：2020-10-05
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：US11801102B2
公开(公告)日：2023-10-31
申请号：US17752975
申请日：2022-05-25
CPC分类号： A61B34/32 , A61B34/30 , A61B34/35 , A61B34/37 , G16H40/40 , A61B90/361 , A61B2017/00477 , A61B2034/305 , G05B2219/45123 , G05B2219/49305 , Y10S901/02 , Y10S901/41
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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164.发明授权公开(公告)号：US11801100B2
公开(公告)日：2023-10-31
申请号：US17677866
申请日：2022-02-22
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361 , B25J9/1689 , B25J9/1697 , A61B2034/2065
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：US20230054233A1
公开(公告)日：2023-02-23
申请号：US17979594
申请日：2022-11-02
摘要： A surgical instrument may comprise a housing and a shaft a shaft extending within the housing. The shaft may include first and second ends. The shaft may be configured for rotation in response to either a robotic actuation of the shaft or a manual actuation of the shaft. The surgical instrument may also comprise a receiving member coupled to the first end of the shaft. The receiving member may be configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver to rotate the shaft and articulate an instrument component coupled to the shaft. The surgical instrument may also comprise a manual actuation component coupled to the second end of the shaft and extending from the housing. The manual actuation component may be configured to receive the manual actuation to rotate the shaft and articulate the instrument component coupled to the shaft.
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公开(公告)号：US11534251B2
公开(公告)日：2022-12-27
申请号：US16667523
申请日：2019-10-29
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：US11517200B2
公开(公告)日：2022-12-06
申请号：US16355366
申请日：2019-03-15
摘要： Vision systems on catheters, cannulas, or similar devices with guiding lumens include receptors distributed in annular areas around respective lumens. Each of the receptors has a field of view covering only a portion of an object environment, and the field of view of each of the receptors overlaps with at least one of the fields of view of the other receptors. A processing system can receive image data from the receptors of the vision systems and combine the image data to construct a visual representation of the object environment.
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公开(公告)号：US20220241034A1
公开(公告)日：2022-08-04
申请号：US17698848
申请日：2022-03-18
发明人： David S. Mintz , Tracey Ann Morely , Theordore C. Walker , David Q. Larkin , Michael L. Hanuschik
摘要： Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
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公开(公告)号：US11369445B2
公开(公告)日：2022-06-28
申请号：US16439634
申请日：2019-06-12
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods include both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory on the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor is updated by shipping of new data. Once downloaded by the processor from a component, subsequent components take advantage of the updated processor without repeated downloading.
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公开(公告)号：US11337765B2
公开(公告)日：2022-05-24
申请号：US16290239
申请日：2019-03-01
发明人： David S. Mintz , Tracey Ann Morley , Theodore C. Walker , David Q. Larkin , Michael L. Hanuschik
摘要： Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.
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