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公开(公告)号：US10595947B2
公开(公告)日：2020-03-24
申请号：US16192315
申请日：2018-11-15
发明人： John Ryan Steger
IPC分类号： G02B6/06 , A61B34/35 , A61B34/00 , A61B90/00 , A61B34/20 , A61B17/00 , A61B34/30 , A61B34/37
摘要： A surgical instrument shaft is provided that includes a hollow tube formed of a base material and including an inner wall surface and an outer wall surface; reinforcing glass material is embedded between the inner surface and outer wall surface; an optical fiber is embedded within the base material between the inner wall surface and the outer wall surface.
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公开(公告)号：US20200078109A1
公开(公告)日：2020-03-12
申请号：US16316939
申请日：2017-07-14
发明人： John Ryan Steger , Brian M. Crews , Craig R. Gerbi , Tyler J. Morrisette , Margaret M. Nixon , Joseph P. Orban, III , Theodore W. Rogers , Alain Sadaka , Charles E. Swinehart , Michael Turner , Kerry S. Wang
IPC分类号： A61B34/35
摘要： A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.
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公开(公告)号：US20190231461A1
公开(公告)日：2019-08-01
申请号：US16340966
申请日：2017-10-17
CPC分类号： A61B34/35 , A61B17/3423 , A61B34/30 , A61B2017/00464 , A61B2017/00477 , A61B2034/301 , A61B2034/305 , B25J9/106 , B25J9/1689
摘要： A computer-assisted teleoperated surgical system includes one or more manipulator devices and other components. A manipulator device includes a first link, a second link coupled to a distal end of the first link, a third link coupled to the second link, and an instrument actuator coupled to the third link. A joint that couples the second link to the first link defines a yaw axis. A joint that couples the third link to the second link defines a pitch axis. The instrument actuator defines an insertion axis. The yaw, pitch, and insertion axes are fixed in relation to each other and intersect at a remote center of motion. The instrument actuator may insert a surgical instrument along the insertion axis roll and may roll the surgical instrument around the insertion axis. The proximal end of the first link may be coupled to a repositionable setup structure, which may optionally be mechanically grounded to an operating room table. A user control unit includes a processor that acts as a controller, and user inputs at the user control unit teleoperated the manipulator device via the controller.
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14.发明授权公开(公告)号：US09827057B2
公开(公告)日：2017-11-28
申请号：US14997257
申请日：2016-01-15
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , B25J9/1689 , B25J9/1697
摘要： A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
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公开(公告)号：US09254178B2
公开(公告)日：2016-02-09
申请号：US14015302
申请日：2013-08-30
CPC分类号： A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
摘要： 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. 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. 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.
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公开(公告)号：US12035992B2
公开(公告)日：2024-07-16
申请号：US16967219
申请日：2019-03-28
CPC分类号： A61B34/71 , A61B34/35 , A61B2017/00477 , A61B2017/00973 , A61B34/37 , A61B2034/715 , A61B2090/371
摘要： Systems and methods for computer-assisted systems using robotic technology are described. For example, this disclosure describes systems and methods that can be used in various contexts such as, but not limited to, minimally invasive computer-assisted tele-operated surgery using robotic technology. The disclosure describes instruments and mechanisms for actuating and controlling the motions of such instruments. The instruments and actuator mechanisms may be used in medical operations and non-medical operations.
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公开(公告)号：US11974827B2
公开(公告)日：2024-05-07
申请号：US16633501
申请日：2018-07-18
CPC分类号： A61B34/37 , A61B34/20 , A61B34/74 , A61B34/76 , A61B90/06 , A61B90/37 , H04W12/50 , A61B2034/2048 , A61B2034/2059 , A61B2090/065
摘要： A computer-assisted medical system includes robotic manipulators, a user input system operable to generate signals to control the manipulators, and a controller configured to execute instructions to perform operations. A portion of the user input system is movable relative to the plurality of manipulators. The operations include, in a pairing mode, associating a first manipulator of the plurality of manipulators with the portion of the user input system based on movement of the portion of the user input system relative to the first manipulator, and, in a following mode, controlling motion of the first manipulator in accordance with an indication generated by the user input system in response to operation of the portion of the user input system by a user.
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公开(公告)号：US11950869B2
公开(公告)日：2024-04-09
申请号：US16117821
申请日：2018-08-30
IPC分类号： A61B34/35 , A61B1/00 , A61B1/05 , A61B5/055 , A61B17/00 , A61B17/29 , A61B34/00 , A61B90/00 , A61B90/57 , A61B34/20 , A61B34/30 , A61B90/30 , A61B90/50 , G16H20/40 , G16H40/63 , G16H40/67
CPC分类号： A61B34/35 , A61B1/00147 , A61B1/05 , A61B5/055 , A61B17/00234 , A61B17/29 , A61B34/25 , A61B34/74 , A61B90/37 , A61B2017/00353 , A61B2017/00477 , A61B2017/00876 , A61B34/20 , A61B2034/252 , A61B2034/305 , A61B2034/741 , A61B2034/742 , A61B2090/306 , A61B90/361 , A61B2090/371 , A61B2090/3735 , A61B2090/378 , A61B90/50 , A61B90/57 , G16H20/40 , G16H40/63 , G16H40/67
摘要： A system for providing on-demand functionality during a medical procedure includes an instrument, an accessory, and a mounting device attached to one or more of the instrument and the accessory. The instrument includes an instrument body and an end effector. The end effector providing a first functionality. The accessory providing a second functionality. The mounting device removably couples the accessory to the instrument to augment the first functionality with the second functionality. In one example, the end effector includes jaws to provide a surgical functionality, and the first accessory includes a camera to provide a complementary monitoring functionality. In another example, the mounting device includes a mechanical mechanism and/or a magnetic mechanism for removably coupling the accessory to the instrument.
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19.发明公开公开(公告)号：US20240016556A1
公开(公告)日：2024-01-18
申请号：US18373695
申请日：2023-09-27
CPC分类号： A61B34/30 , B25J9/1689 , B25J9/1697 , A61B90/361 , A61B34/37 , A61B2034/2065
摘要： A system includes a control means for receiving an input from a user, a manipulator means configured to support a tool having a tool frame, and processing means configured to perform a method. The method involves receiving, from an image capturing system with an image frame, one or more images. The tool is visible in the one or more images. The method further involves 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 involves determining, in response to the input received at the control means, an output movement for the tool based on the estimated frame transform, and causing movement of the tool based on the output movement.
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公开(公告)号：US11712314B2
公开(公告)日：2023-08-01
申请号：US16764346
申请日：2018-11-14
CPC分类号： A61B34/74 , A61B34/20 , A61B34/35 , A61B34/37 , A61B2017/00203 , A61B2017/00207 , A61B2017/00216 , A61B2017/00424 , A61B2017/00438 , A61B2017/00973 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2061 , A61B2034/2063 , A61B2034/741 , A61B2034/742
摘要： Implementations relate to a master control device. In some implementations, a master control device includes a control body comprising a proximal end, a thumb grip portion, and a finger grip portion. The control body has a length configured to engage the proximal end of the control body in the palm of a hand of the user while the hand engages the thumb grip portion with a thumb of the hand and the finger grip portion with a finger of the hand. The control body is configured to allow the proximal end of the control body to be selectively engaged by the palm of the hand and selectively disengaged from the palm of the hand while the hand engages the thumb grip portion with the thumb of the hand and the finger grip portion with the finger of the hand.
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