公开(公告)号：US20220015832A1

公开(公告)日：2022-01-20

申请号：US17468198

申请日：2021-09-07

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC分类号： A61B34/10 ,  A61B8/12 ,  A61B8/00 ,  A61B34/00 ,  A61B34/37 ,  A61B1/00 ,  A61B34/30

摘要： A minimally invasive surgical system is disclosed including a processor coupled to a stereoscopic endoscope and a stereoscopic video display device. The processor generates an operative image of an anatomic structure in the surgical site, overlays the operative image onto the captured stereo video images for display on the stereoscopic video display device, generates and overlays a pointer onto the operative image or the captured stereo video images to display the pointer on the stereoscopic video display device with a three dimensional appearance, and switches between a first mode for input devices of a surgeon console used to couple motion into surgical instruments and a second mode used to control an interactive graphical user interface to allow interactions with the pointer and the operative image in three dimensions using input devices having at least three degrees of freedom.

公开(公告)号：US10646293B2

公开(公告)日：2020-05-12

申请号：US15413380

申请日：2017-01-23

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B1/00 ,  A61B34/37 ,  A61B8/00 ,  A61B34/00 ,  A61B90/00 ,  A61B8/12 ,  A61B34/30 ,  A61B1/313 ,  A61B34/10 ,  A61B17/00

摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US12108998B2

公开(公告)日：2024-10-08

申请号：US18332891

申请日：2023-06-12

申请人： INTUITIVE SURGICAL OPERATIONS, INC. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B34/37 ,  A61B1/313 ,  A61B8/00 ,  A61B8/12 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61B34/10

CPC分类号： A61B34/37 ,  A61B1/3132 ,  A61B8/12 ,  A61B8/4218 ,  A61B8/4245 ,  A61B8/461 ,  A61B34/25 ,  A61B34/30 ,  A61B34/70 ,  A61B34/76 ,  A61B90/361 ,  A61B90/37 ,  A61B8/00 ,  A61B2017/00203 ,  A61B2034/107 ,  A61B2034/305 ,  A61B90/03 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/378

摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US20200163732A1

公开(公告)日：2020-05-28

申请号：US16752805

申请日：2020-01-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC. ,  The Johns Hopkins University

发明人： Christopher J. Hasser ,  Russell H. Taylor ,  Joshua Leven ,  Michael Choti

IPC分类号： A61B34/37 ,  A61B90/00 ,  A61B8/00 ,  A61B1/313 ,  A61B8/12 ,  A61B34/00 ,  A61B34/30

摘要： A LUS robotic surgical system is trainable by a surgeon to automatically move a LUS probe in a desired fashion upon command so that the surgeon does not have to do so manually during a minimally invasive surgical procedure. A sequence of 2D ultrasound image slices captured by the LUS probe according to stored instructions are processable into a 3D ultrasound computer model of an anatomic structure, which may be displayed as a 3D or 2D overlay to a camera view or in a PIP as selected by the surgeon or programmed to assist the surgeon in inspecting an anatomic structure for abnormalities. Virtual fixtures are definable so as to assist the surgeon in accurately guiding a tool to a target on the displayed ultrasound image.

公开(公告)号：US11642184B2

公开(公告)日：2023-05-09

申请号：US16625944

申请日：2018-06-27

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Yunuscan Sevimli ,  Russell H. Taylor

IPC分类号： A61B34/30 ,  A61B90/98

CPC分类号： A61B34/30 ,  A61B90/98

摘要： The present invention is directed to a device for allowing universal surgical tool exchange. The device of the present invention includes a tool-side adapter and a robot-side adapter that combine the benefits of a robot in the operating room (OR) with a system that has minimal impact on the current surgical workflow. The device of the present invention allows surgeons to preserve their natural grip on the surgical tool, creates a reliable and repeatable connection between the tool and the robot, and allows the user to rapidly swap the tools in and out from the surgical robot using a single-handed motion. A unique RFID tag and receiver is embedded in the tool-side adapter and the robot-side adapter, respectively to allow the robot to identify the tool that has been engaged. The present invention is universally applicable to any robotic system that is intended to hold a set of hand instruments.

公开(公告)号：US10369045B2

公开(公告)日：2019-08-06

申请号：US14810277

申请日：2015-07-27

申请人： The Johns Hopkins University ,  CARNEGIE MELLON UNIVERSITY

发明人： Berk Gonenc ,  Iulian Iordachita ,  Russell H. Taylor ,  Cameron Riviere ,  Peter Gehlbach ,  James Handa

IPC分类号： A61F9/007 ,  G01L5/22 ,  A61B17/29 ,  A61B5/06 ,  A61B34/00 ,  G01L25/00 ,  G01L1/24 ,  A61B5/00 ,  A61B17/30 ,  A61B90/00

摘要： A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force.

公开(公告)号：US10363164B2

公开(公告)日：2019-07-30

申请号：US15234896

申请日：2016-08-11

申请人： The Johns Hopkins University

发明人： Xingchi He ,  Iulian Iordachita ,  Russell H. Taylor ,  James T. Handa ,  Peter L. Gehlbach

IPC分类号： A61F9/007 ,  A61B34/30 ,  A61F9/00 ,  B25J9/02 ,  B25J13/08 ,  G01L1/24 ,  A61B34/20 ,  A61B90/00

摘要： A force-sensing tool includes a tool shaft that has a proximal end and a distal end, a flexure section attached at a first end to the distal end of the tool shaft, a tool tip operatively connected to the flexure section such that axial forces applied to the tool tip are coupled primarily to a first portion of the flexure section and transverse forces applied to the tool tip are coupled primarily to a second portion of the flexure section, an axial force sensor coupled to the first portion of the flexure section, and a transverse force sensor coupled to the second portion of the flexure section. The axial force sensor responds to axial forces applied to the tool tip substantially independently of the transverse forces applied to the tool tip under a designed operating range of forces, and the transverse force sensor responds to transverse forces applied to the tool tip substantially independently of the axial forces applied to the tool tip under the designed operating range of forces.

公开(公告)号：US10278781B2

公开(公告)日：2019-05-07

申请号：US15383931

申请日：2016-12-19

申请人： The Johns Hopkins University

发明人： Russell H. Taylor ,  Marcin Arkadiusz Balicki ,  James Tahara Handa

IPC分类号： A61B34/30 ,  A61B34/32 ,  B25J15/04 ,  A61B90/00 ,  A61B17/00

摘要： A system and method for tool exchange during surgery for cooperatively controlled robots comprises a tool holder for receiving a surgical tool adapted to be held by a robot and a surgeon, a tool holding element for constraining downward motion of the tool while allowing low force removal of the surgical tool from the holder, a first sensor for detecting if the surgical tool is docked within the tool holder, and a selector for automatically selecting different movements or actions of the tool holder to be performed based upon information detected by the first sensor. The system and method of the present invention provides an advantage to an often slow moving cooperative robot, by increasing the speed by which the tool holder may move in the direction away from the patient.

公开(公告)号：US10039474B2

公开(公告)日：2018-08-07

申请号：US14165972

申请日：2014-01-28

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Russell H. Taylor ,  Marcin Arkadiusz Balicki

IPC分类号： A61B5/06 ,  A61B34/20

摘要： An embodiment in accordance with the present invention provides a tracking system architecture for tracking surgical tools in a surgical field. The system architecture is integrated into a mask placed directly on the face of the patient. The system can combine multiple imaging and range finding technologies for tracking the eye and the surgical instrumentation. The system can be used to generate a three dimensional scene for use during the surgical procedure. Additionally, the system can incorporate a modular design to account for variable anatomy. The system described is for eye surgery applications. However, the system could also be used for other procedures such as cochlear implant or craniotomy.

公开(公告)号：US09815206B2

公开(公告)日：2017-11-14

申请号：US14497178

申请日：2014-09-25

申请人： The Johns Hopkins University

发明人： Marcin A. Balicki ,  Peter Kazanzides ,  Anton Deguet ,  Russell H. Taylor

IPC分类号： G06F19/00 ,  B25J13/00 ,  A61B19/00 ,  B25J13/04 ,  B25J13/06 ,  B25J13/02 ,  G06F3/0346 ,  G06F3/0338 ,  G06F3/0482 ,  G06F3/0362 ,  G06F3/0354

CPC分类号： B25J13/003 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/77 ,  A61B90/20 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/258 ,  A61B2090/0807 ,  B25J13/02 ,  B25J13/04 ,  B25J13/06 ,  B25J13/065 ,  G06F3/0338 ,  G06F3/0346 ,  G06F3/03545 ,  G06F3/0362 ,  G06F3/0482 ,  Y10S901/06

摘要： According to some embodiments of the present invention, a cooperatively controlled robot includes a robotic actuator assembly comprising a tool holder and a force sensor, a control system adapted to communicate with the robotic actuator assembly and the force sensor, and an output system in communication with the control system. The tool holder is configured to receive a tool to be manipulated by a user. The control system is configured to receive an instruction from a user to switch from a robot control mode into a user interface control mode. The force sensor is configured to measure at least one of a force and a torque applied to the tool, and the control system is configured to receive an indication of the at least one of a force and a torque applied to the tool and manipulate the output system based on the indication.