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公开(公告)号：US10350015B2
公开(公告)日：2019-07-16
申请号：US15147171
申请日：2016-05-05
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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12.发明申请公开(公告)号：US20190209251A1
公开(公告)日：2019-07-11
申请号：US16355517
申请日：2019-03-15
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
CPC分类号： A61B34/35 , A61B34/30 , A61B50/10 , A61B50/18 , A61B2017/00017 , A61B2034/304 , A61B2050/105
摘要： A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.
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公开(公告)号：US10258416B2
公开(公告)日：2019-04-16
申请号：US15012582
申请日：2016-02-01
IPC分类号： A61B19/00 , A61B34/30 , B25J9/00 , B25J9/16 , A61B34/00 , A61B34/37 , B25J3/04 , A61B17/00 , A61B90/00
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：US10194998B2
公开(公告)日：2019-02-05
申请号：US15488219
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：US20180126559A9
公开(公告)日：2018-05-10
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：US20180125588A1
公开(公告)日：2018-05-10
申请号：US15862880
申请日：2018-01-05
发明人： David Q. Larkin
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： Collisions between a minimally invasive surgical instrument and patient tissue are prevented in various ways. A real time image of a surgical site is mosaiced over a previously recorded more distal image of the site. Surgical instruments are visible in the real time image, and representations of the surgical instruments as they would appear in the previously recorded image are generated and displayed on the previously recorded image. Consequently, a person moving the surgical instruments sees a representation of the instruments outside the field of view of an imaging system taking the real time images.
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公开(公告)号：US09956044B2
公开(公告)日：2018-05-01
申请号：US14753575
申请日：2015-06-29
发明人： Daniel H. Gomez , Nicola Diolaiti , David Q. Larkin , Paul E. Lilagan , Probal Mitra , Tabish Mustufa
IPC分类号： A61B19/00 , B25J9/16 , B25J9/10 , A61B34/00 , A61B1/018 , A61B1/005 , A61B34/30 , A61B5/151 , A61B34/32 , A61B34/35 , A61B34/37
CPC分类号： A61B34/30 , A61B1/0055 , A61B1/018 , A61B5/15196 , A61B19/2203 , A61B19/56 , A61B34/25 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/74 , A61B34/76 , A61B2019/223 , A61B2019/2292 , A61B2034/252 , A61B2034/258 , B25J9/10 , B25J9/1005 , B25J9/16 , B25J9/161 , B25J9/1656 , B25J9/1658 , B25J9/1661 , B25J9/1664 , B25J9/1679 , Y10S901/02 , Y10S901/41 , Y10S901/47 , A61B2019/2269 , A61B2019/2207 , A61B2019/2223 , A61B2019/562 , A61B2019/568
摘要： To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
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公开(公告)号：US09801551B2
公开(公告)日：2017-10-31
申请号：US13944999
申请日：2013-07-18
CPC分类号： A61B5/0084 , A61B1/00009 , A61B1/0005 , A61B1/00096 , A61B1/00165 , A61B1/00167 , A61B1/00181 , A61B1/00183 , A61B1/00193 , A61B1/0607 , A61B1/0676 , A61B1/0684 , A61B1/2676 , A61B5/08 , A61B5/6852 , A61B2576/00
摘要： A vision system that may be used in a catheter or similar guiding instrument includes receptors distributed in an annular area. 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 and combine image data from the receptors to construct a visual representation of the entirety of the object environment.
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公开(公告)号：US20170215976A1
公开(公告)日：2017-08-03
申请号：US15488227
申请日：2017-04-14
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 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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20.发明申请公开(公告)号：US20170209232A1
公开(公告)日：2017-07-27
申请号：US15459175
申请日：2017-03-15
发明人： David Q. Larkin , David S. Mintz , Thomas R. Nixon
CPC分类号： B25J9/1692 , A61B1/00009 , A61B1/0005 , A61B1/0051 , A61B1/04 , A61B1/3132 , A61B17/00234 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00199 , A61B2017/00292 , A61B2017/00296 , A61B2034/102 , A61B2034/107 , A61B2034/2057 , A61B2034/2065 , A61B2034/301 , A61B2034/741 , A61B2034/742 , A61B2090/365 , A61B2090/367 , A61B2090/371 , A61B2090/373 , B25J9/1694 , B25J9/1697 , G05B2219/39449 , G05B2219/40607 , G05B2219/45123
摘要： An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
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