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公开(公告)号：US11583278B2
公开(公告)日：2023-02-21
申请号：US16844150
申请日：2020-04-09
IPC分类号： A61B17/072 , A61B17/068 , A61B17/10 , A61B34/30 , A61B34/35 , A61B34/37 , A61B17/00 , A61B34/00
摘要： A surgical stapling system comprising an end effector, a shaft, a drive member, a first cable, a second cable, and a third cable is disclosed. The end effector comprises a first jaw, a second jaw rotatable relative to the first jaw between an open position and a closed position, and a staple cartridge comprising staples. The shaft defines first and second articulation joints. The end effector is movable about the first articulation joint in a first articulation plane and about the second articulation joint in a second articulation plane. The drive member traverses the first articulation joint and the second articulation joint and is configured to space the second jaw relative to the first jaw. Actuation of the first and second cables moves the end effector within the first articulation plane. Actuation of the second and third cables moves the end effector within the second articulation plane.
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12.发明申请公开(公告)号：US20230046473A1
公开(公告)日：2023-02-16
申请号：US17403508
申请日：2021-08-16
申请人： Covidien LP
发明人： Christopher T. Tschudy , Dylan R. Kingsley , Sara A. Malang , James H. Bodmer , Tony G. Moua , Andrew W. Zeccola , Curtis M. Siebenaller , Haralambos P. Apostolopoulos , Russell W. Holbrook , William R. Whitney , Jason G. Weihe , Zachary S. Heiliger
摘要： A robotic system includes an electrosurgical instrument having an instrument housing with a shaft and first and second jaw members attached thereto movable to grasp tissue. An input is coupled to a jaw drive rod and is configured to move the jaw members. A strain gauge is coupled to the jaw drive rod and is configured to measure an amount of strain thereon and communicate the amount of strain to a robotic controller. A handle is remotely disposed relative to the instrument housing and is configured to communicate with the input for controlling the jaw members. The handle includes a housing having components therein and a lever operably associated therewith such that movement of the lever relative to the housing correlates to movement of the jaw members. The components are configured to operably regulate the resistance of the lever in response to the amount of strain from the strain gauge.
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公开(公告)号：US11576743B2
公开(公告)日：2023-02-14
申请号：US17362620
申请日：2021-06-29
申请人： Verb Surgical Inc.
摘要： Embodiments described herein provide various examples of a machine-learning-based visual-haptic system for constructing visual-haptic models for various interactions between surgical tools and tissues. In one aspect, a process for constructing a visual-haptic model is disclosed. This process can begin by receiving a set of training videos. The process then processes each training video in the set of training videos to extract one or more video segments that depict a target tool-tissue interaction from the training video, wherein the target tool-tissue interaction involves exerting a force by one or more surgical tools on a tissue. Next, for each video segment in the set of video segments, the process annotates each video image in the video segment with a set of force levels predefined for the target tool-tissue interaction. The process subsequently trains a machine-learning model using the annotated video images to obtain a trained machine-learning model for the target tool-tissue interaction.
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公开(公告)号：US11576742B2
公开(公告)日：2023-02-14
申请号：US16492729
申请日：2018-03-09
申请人： CMR SURGICAL LIMITED
发明人： Edward James Wildin Tucker , Gordon Thomas Deane , Rachel Marie Garsed , Rebecca Anne Cuthbertson , Ross Hamilton Henrywood
摘要： A control system for regulating operative control of a surgical instrument by a remote surgeon input device. The surgical instrument is supported by an articulated robot arm, and comprises an end effector connected to a shaft by an articulated coupling. The remote surgeon input device is capable of operatively controlling the surgical instrument by controlling articulation of the end effector, and controlling articulation of the robot arm and coupling. On receiving a request to engage operative control of the surgical instrument by the surgeon input device, the control system initially engages operative control of articulation of the robot arm and coupling by the surgeon input device, whilst maintaining disengagement of operative control of articulation of the end effector by the surgeon input device. Subsequently, the control system engages operative control of articulation of the end effector by the surgeon input device following a manipulation of the surgeon input device.
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公开(公告)号：US11576738B2
公开(公告)日：2023-02-14
申请号：US16563480
申请日：2019-09-06
申请人： Auris Health, Inc.
IPC分类号： A61B34/30 , A61B34/35 , A61B17/34 , A61B18/14 , A61B17/00 , A61B34/00 , A61B18/00 , A61B17/32
摘要： Provided is a robotic system that includes a surgical instrument with a wrist including an elongate shaft extending between a proximal end and a distal end, a wrist extending from the distal end of the elongate shaft, and an end effector extending from the wrist. The end effector may include a first jaw and a second jaw, the first and second jaw being moveable between an open position in which ends of the jaws are separated from each other, and a closed position in which the ends of the jaws are closer to each other as compared to the open position. The surgical instrument may also include at least one rotary cutter extending from the wrist and positioned at least partially within a recess formed in a face of the first jaw.
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公开(公告)号：US11571267B2
公开(公告)日：2023-02-07
申请号：US16858010
申请日：2020-04-24
申请人： Verb Surgical Inc.
摘要： For control about a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched to find the configuration providing a greatest overlap of the workspace of the surgical instrument with the target anatomy. The force at the RCM may be measured, such as with one or more sensors on the cannula or in an adaptor connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. Given this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be used alone or in combination, such as to optimize the alignment of workspace to the target anatomy, to minimize force at the RCM, and/or to dynamically control the robotic manipulator configuration based on workspace alignment and force measurement.
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公开(公告)号：US20230034259A1
公开(公告)日：2023-02-02
申请号：US17666994
申请日：2022-02-08
申请人： Vita Solutions LLC
发明人： Justin Barbot , Jason Scherer , Richard Arthur Thompson , Thomas Arthur Tedham , Reed Oliver Saunders
IPC分类号： A61B17/295 , A61B34/35 , A61B17/29
摘要： A surgical instrument assembly is provided. In some embodiments, an example surgical instrument assembly includes a surgical instrument configured to pass through a guide tube having a proximal end and a distal end. The surgical instrument can include one or more arms configured to extend from the intermediate position, each arm having one or more joints positioned along the arm and an end effector attached at the distal end of each arm. The surgical instrument assembly can include a control assembly positioned at the proximal end and configured to control the movement of the joints and the end effectors.
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公开(公告)号：US20230012671A1
公开(公告)日：2023-01-19
申请号：US17947666
申请日：2022-09-19
申请人： Covidien LP
发明人： Brock Kopp
IPC分类号： A61B34/30 , A61B34/37 , A61B17/072 , A61B34/00 , A61B34/35 , A61B17/285
摘要： An instrument adapter includes a housing, a drive member, a nut, and a shaft assembly. The nut is threadedly coupled to the drive member and axially movable relative thereto. The shaft assembly includes a shaft and a link. The shaft extends distally from the housing and is configured to be operably coupled to an end effector. The link has a proximal end movably coupled to the nut and a distal end configured to selectively lock the end effector to the shaft assembly. The link is movable between a proximal non-locking position, and a distal locking position. The nut is movable between a first position along the drive member, in which the nut resists proximal movement of the link from the distal position to the proximal position, and a second position, in which the nut does not resist proximal movement of the link from the distal position to the proximal position.
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19.发明授权公开(公告)号：US11547507B2
公开(公告)日：2023-01-10
申请号：US16867393
申请日：2020-05-05
发明人： Carolyn M. Fenech
IPC分类号： A61B5/00 , A61B34/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B1/00 , A61B1/005 , A61B10/06 , A61B1/05 , A61B34/30
摘要： An apparatus for guiding an elongated flexible instrument, includes a first plurality of linkages forming a first side of a channel of a variable-length support assembly, a second plurality of linkages forming a second side of the channel, opposite the first side, a third plurality of linkages disposed between the first and second plurality of linkages and forming a third side of the channel, and a fourth plurality of linkages disposed between the first and second plurality of linkages and forming a fourth side of the channel, opposite the third side. Each of the first, second, third, and fourth pluralities of linkages are separable from each other to transition the variable-length support assembly from an elongated configuration to a compact configuration.
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公开(公告)号：US20230000578A1
公开(公告)日：2023-01-05
申请号：US17363573
申请日：2021-06-30
发明人： Paul Moubarak
摘要： Disclosed is a robotic surgical tool, comprising an end effector, an elongate shaft, and an articulation joint. The articulation joint comprises a pivot plate attached to the end effector, a fixed plate attached to the elongate shaft, and a spherical joint coupled to the pivot plate and the fixed plate. The robotic surgical tool further comprises an articulation drive system. The articulation drive system comprises a first rod, a second rod, a third rod, and a fourth rod that extend through the elongate shaft, a first mechanical link pivotably coupled to the first rod and to the pivot plate, a second mechanical link pivotably coupled to the second rod and to the pivot plate, a third mechanical link pivotably coupled to the third rod and to the pivot plate, and a fourth mechanical link pivotably coupled to the fourth rod and to the pivot plate.
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