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公开(公告)号：US20180242824A1
公开(公告)日：2018-08-30
申请号：US15963825
申请日：2018-04-26
IPC分类号： A61B1/00 , A61B34/30 , A61B34/37 , A61B34/00 , A61B90/10 , A61B1/002 , A61B17/00 , A61B8/12 , A61B5/00 , A61B1/06 , A61B1/05 , A61B1/04 , A61B1/018 , A61B34/20 , A61B90/00 , A61B17/34 , A61B1/005
CPC分类号： A61B1/0051 , A61B1/00087 , A61B1/00149 , A61B1/00154 , A61B1/0016 , A61B1/00165 , A61B1/00193 , A61B1/002 , A61B1/0055 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/10 , A61B90/361 , A61B2017/00314 , A61B2017/00323 , A61B2017/0034 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
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：US09901408B2
公开(公告)日：2018-02-27
申请号：US15136658
申请日：2016-04-22
发明人： David Q. Larkin
IPC分类号： A61B34/20 , A61B19/00 , B25J9/16 , A61B90/00 , A61B34/30 , A61B34/37 , A61B1/00 , A61B1/04 , A61B17/00
CPC分类号： A61B34/20 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/04 , A61B17/00234 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/36 , A61B2017/00314 , A61B2017/00323 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/371 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123 , G05B2219/45169 , G06T7/0012
摘要： A volume is defined in which a control system permits an instrument to move, and the volume is a sum of one volume that is defined by previous movements of the instrument and another volume that is defined by the boundaries of an image capture component.
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183.发明授权公开(公告)号：US09867671B2
公开(公告)日：2018-01-16
申请号：US15607676
申请日：2017-05-29
发明人： Rajesh Kumar , Brian D. Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mukherjee
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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公开(公告)号：US20170282372A1
公开(公告)日：2017-10-05
申请号：US15629533
申请日：2017-06-21
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
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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公开(公告)号：US20170245948A1
公开(公告)日：2017-08-31
申请号：US15597558
申请日：2017-05-17
发明人： David Q. Larkin , Brian D. Hoffman , Paul W. Mohr
CPC分类号： A61B34/20 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/04 , A61B17/00234 , A61B34/10 , A61B34/30 , A61B34/37 , A61B90/36 , A61B2017/00314 , A61B2017/00323 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/301 , A61B2034/305 , A61B2034/306 , A61B2090/371 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123 , G05B2219/45169 , G06T7/0012
摘要： A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided for a viewer in the surgeon console of a telesurgical system.
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186.发明申请公开(公告)号：US20170079725A1
公开(公告)日：2017-03-23
申请号：US15371154
申请日：2016-12-06
CPC分类号： A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
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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187.发明授权Software center and highly configurable robotic systems for surgery and other uses 有权软件中心和高度可配置的机器人系统用于手术和其他用途公开(公告)号：US09554859B2
公开(公告)日：2017-01-31
申请号：US14462507
申请日：2014-08-18
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
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 n 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 method for their use are also provided.
摘要翻译： 远程手术，远程外科手术和/或外科手术机器人装置，系统和方法使用可以具有比相关联的手术末端执行器n空间更多的自由度的外科手术机器人连接。 处理器可以计算包括围绕孔径位置枢转工具的工具运动。 可以沿着用于给定末端执行器位置的一系列构造可移动的连接朝着抑制碰撞的构造被驱动。 还提供了精制机器人连接及其使用方法。
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188.发明授权Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip 有权医疗机器人系统提供计算机产生的相机仪器的辅助视图，用于控制其尖端的位置和取向公开(公告)号：US09516996B2
公开(公告)日：2016-12-13
申请号：US14488408
申请日：2014-09-17
发明人： Nicola Diolaiti , David Q. Larkin , Daniel H. Gomez , Tabish Mustufa , Paul W. Mohr , Paul E. Lilagan
CPC分类号： A61B1/00149 , A61B1/00006 , A61B1/00009 , A61B1/00039 , A61B1/00045 , A61B1/0005 , A61B1/00087 , A61B1/00154 , A61B1/05 , A61B1/313 , A61B5/065 , A61B34/20 , A61B34/30 , A61B34/37 , A61B34/74 , A61B34/77 , A61B90/03 , A61B90/36 , A61B90/361 , A61B2017/00119 , A61B2034/102 , A61B2034/2074 , A61B2034/301 , A61B2034/305 , A61B2090/364 , A61B2090/365 , G06T7/70 , G09B23/285
摘要： A medical robotic system includes an entry guide with surgical tools and a camera extending out of its distal end. To supplement the view provided by an image captured by the camera, an auxiliary view including articulatable arms of the surgical tools and/or camera is generated from sensed or otherwise determined information about their positions and orientations and displayed on a display screen from the perspective of a specified viewing point. Intuitive control is provided to an operator with respect to the auxiliary view while the operator controls the positioning and orienting of the camera.
摘要翻译： 医疗机器人系统包括具有手术工具的进入引导件和从其远端延伸出的相机。 为了补充由相机拍摄的图像提供的视图，包括外科手术工具和/或相机的可铰接臂的辅助视图是从感测或以其它方式确定的关于它们的位置和取向的信息产生的，并且从显示屏幕的视角 指定的观察点。 当操作员控制相机的定位和定向时，相对于辅助视图向操作者提供直观的控制。
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189.发明授权公开(公告)号：US09271798B2
公开(公告)日：2016-03-01
申请号：US13965581
申请日：2013-08-13
发明人： Rajesh Kumar , Brian David Hoffman , Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin , Frederic H. Moll , Stephen J. Blumenkranz , Gunter D. Niemeyer , J. Kenneth Salisbury, Jr. , Yulun Wang , Modjtaba Ghodoussi , Darrin R. Uecker , James W. Wright , Amante A. Mangaser , Ranjan Mauherjee
IPC分类号： G05B19/418 , A61B19/00 , A61B1/00
CPC分类号： G09B23/28 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2017/00017 , Y10S901/16
摘要： A multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures includes first and second master input devices, a first slave robotic mechanism, and at least one processor configured to generate a first slave command for the first slave robotic mechanism by switchably using one or both of a first command indicative of manipulation of the first master input device by a first user and a second command indicative of manipulation of the second master input device by a second user. To facilitate the collaboration or training, both first and second users communicate with each other through an audio system and see the minimally invasive surgery site on first and second displays respectively viewable by the first and second users.
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190.发明申请ROBOTIC SURGERY SYSTEM INCLUDING POSITION SENSORS USING FIBER BRAGG GRATINGS 审中-公开机器人手术系统，包括使用光纤布拉格光栅的位置传感器公开(公告)号：US20150245881A1
公开(公告)日：2015-09-03
申请号：US14684569
申请日：2015-04-13
发明人： David Q. Larkin , David C. Shafer
IPC分类号： A61B19/00
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： 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.
摘要翻译： 提供了一种手术器械，包括：至少一个可枢转臂，其具有远端，近端和设置在远端和近端之间的至少一个关节区域; 设置在所述至少一个可铰接臂的所述至少一个接合区域中的光纤弯曲传感器; 耦合到光纤弯曲传感器的检测系统，所述检测系统包括光源和光检测器，用于检测由光纤弯曲传感器反射或透过光纤弯曲传感器的光，以确定至少一个接头区域的位置 基于由光纤弯曲传感器反射或透射的检测光的可铰接臂; 以及包括用于实现臂的运动的伺服控制器的控制系统。
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