公开(公告)号：US09554859B2

公开(公告)日：2017-01-31

申请号：US14462507

申请日：2014-08-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： William C. Nowlin ,  Paul W. Mohr ,  Bruce M. Schena ,  David Q. Larkin ,  Gary S. Guthart

IPC: A61B19/00 ,  B25J3/00 ,  B25J9/16

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US09516996B2

公开(公告)日：2016-12-13

申请号：US14488408

申请日：2014-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nicola Diolaiti ,  David Q. Larkin ,  Daniel H. Gomez ,  Tabish Mustufa ,  Paul W. Mohr ,  Paul E. Lilagan

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/313 ,  A61B5/06 ,  G06T7/00 ,  G09B23/28 ,  A61B17/00

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US09271798B2

公开(公告)日：2016-03-01

申请号：US13965581

申请日：2013-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： 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: G05B19/418 ,  A61B19/00 ,  A61B1/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: 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.

公开(公告)号：US20150245881A1

公开(公告)日：2015-09-03

申请号：US14684569

申请日：2015-04-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Q. Larkin ,  David C. Shafer

IPC: A61B19/00

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20150073435A1

公开(公告)日：2015-03-12

申请号：US14490090

申请日：2014-09-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Giuseppe Maria Prisco ,  David Q. Larkin ,  William C. Nowlin

IPC: A61B19/00

CPC classification number: A61B34/30 ,  A61B34/32 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/75 ,  A61B90/361 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1689 ,  G05B2219/41213 ,  G05B2219/41426 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

Abstract translation: 机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。 在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。 每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力， 通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

公开(公告)号：US08706301B2

公开(公告)日：2014-04-22

申请号：US13736720

申请日：2013-01-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

IPC: G01L5/00 ,  G06F19/00 ,  H04N5/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/40144

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。

公开(公告)号：US20140058564A1

公开(公告)日：2014-02-27

申请号：US14066823

申请日：2013-10-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

IPC: B25J9/16 ,  A61B19/00

CPC classification number: B25J9/1633 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/065 ,  A61B2090/365 ,  B25J9/1697 ,  Y10S901/47

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract translation: 用于在机器人手术系统中提供力信息的视觉表示的方法和系统。 确定手术末端执行器的真实位置。 还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。 表示实际和投影位置的图像叠加在显示器上。 两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。 此外，确定并显示组织变形信息。

公开(公告)号：US20140024951A1

公开(公告)日：2014-01-23

申请号：US13944999

申请日：2013-07-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Peter M. HERZLINGER ,  Giuseppe Maria Prisco ,  Vincent Duindam ,  David Q. Larkin

IPC: A61B5/00 ,  A61B1/267

CPC classification number: 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

Abstract: 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.

Abstract translation: 可用于导管或类似导向仪器的视觉系统包括分布在环形区域中的受体。 每个受体具有仅覆盖对象环境的一部分的视场，并且每个受体的视野与其它受体的视场中的至少一个重叠。 处理系统可以从受体接收图像数据并且组合来自受体的图像数据以构建整个对象环境的视觉表示。

公开(公告)号：US20130331859A1

公开(公告)日：2013-12-12

申请号：US13965581

申请日：2013-08-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： 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: A61B19/00

CPC classification number: G09B23/28 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B90/37 ,  A61B2017/00017 ,  Y10S901/16

Abstract: 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.

Abstract translation: 用于微创外科手术中的协作或训练的多用户医疗机器人系统包括第一和第二主输入设备，第一从机器人机构和至少一个处理器，该至少一个处理器被配置为通过可切换地产生第一从机器人机构的第一从机命令 使用指示由第一用户操纵第一主输入设备的第一命令中的一个或两个指示由第二用户操纵第二主输入设备的第二命令。 为了促进协作或训练，第一和第二用户通过音频系统相互通信，并且可以看到第一和第二显示器上的微创外科手术部位，分别可由第一和第二用户观看。