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公开(公告)号：US10849680B2
公开(公告)日：2020-12-01
申请号：US15744014
申请日：2016-07-11
申请人： Titan Medical Inc.
摘要： An end effector apparatus for a surgical instrument is disclosed including a housing having a first jaw mounted on a revolute joint and providing a first electrical conduction path between the housing and the first jaw. A second jaw is mounted on a revolute joint within the housing and is insulated from the housing, the jaws each having a manipulating portion and a lever arm. A yoke is received within the housing and mechanically coupled to the lever arms and to a control link and is moveable in response to movements of the control link to cause opening and closing of the jaws, the yoke being electrically insulated from the housing and the first jaw. A second electrical conduction path is provided between the control link and the second jaw. The electrical conduction paths facilitate conduction of an electrocauterization current through tissue grasped between the jaws.
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公开(公告)号：US10813712B2
公开(公告)日：2020-10-27
申请号：US15893195
申请日：2018-02-09
申请人： Titan Medical Inc.
发明人： Rene Robert , David Allen Zitnick
摘要： A tool apparatus and a method for actuating a tool apparatus are disclosed. The tool apparatus includes an actuator housing, and an elongate tool manipulator extending outwardly from the actuator housing and having a plurality of control links extending along a length of the tool manipulator. The control links are operable to cause movement of a distal end of the tool manipulator in response to movement of the control links in an actuating direction generally aligned with the length of the tool manipulator. The apparatus also includes a plurality of actuators, each actuator being associated with at least one of the control links and being mounted in the actuator housing to facilitate a range of travel in a transverse direction substantially orthogonal to the actuating direction, and a plurality of linkages. Each linkage is associated with one of the control links and extends between the control link and the respective actuator and is operable to transmit drive forces between the actuator and the control link.
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公开(公告)号：US20200330175A1
公开(公告)日：2020-10-22
申请号：US16911916
申请日：2020-06-25
申请人： TITAN MEDICAL INC.
发明人： Peter CAMERON
IPC分类号： A61B34/37 , B25J9/16 , B25J13/02 , A61B34/00 , G05B19/4061
摘要： A method of operating a robotic control system comprising a master apparatus in communication with a plurality of input devices having respective handles capable of translational and rotational movement and a slave system having a tool positioning device corresponding to each respective handle and holding a respective tool having an end effector whose position and orientation is determined in response to a position and orientation of a corresponding handle. The method involves producing desired new end effector positions and orientations of respective end effectors in response to current positions and orientations of corresponding handles, using the desired new end effector positions and orientations to determine distances from each point of a first plurality of points along a first tool positioning device to each point of a plurality of points along at least one other tool positioning device, and determining and notifying that any of the distances meets a proximity criterion.
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公开(公告)号：US20200289236A1
公开(公告)日：2020-09-17
申请号：US16800941
申请日：2020-02-25
申请人： Titan Medical Inc.
摘要： An apparatus and method for medical procedures are provided. The apparatus includes a base, a member having first and second ends, and a curved support configured to support a robotic arm. The method involves adjusting a member to position a curved support configured to support a robotic arm, positioning the robotic arm at a location on the curved support, and adjusting the robotic arm in accordance with a non-surgical adjustment such that the robotic instrument is within range of a target area.
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35.发明授权公开(公告)号：US10758311B2
公开(公告)日：2020-09-01
申请号：US16174649
申请日：2018-10-30
申请人： Titan Medical Inc.
发明人： Brandon Michael Kelly , Michael Darter Collins , Chad Clayton Walters , Jonathan Bradley Duke , Zachary Kevin Durand , Mark Curtis Rector
摘要： In some embodiments, a hand controller apparatus for controlling a tool in a robotic surgery system can include a body configured to be moved to generate a first operator input to cause a tool to move corresponding to the movement of the body. The hand controller apparatus can also include an input control interface formed on a surface of the body and configured to sense one or more of a plurality of second operator inputs associated with a plurality of tool functions, the plurality of second operator inputs being different from the first operator input. The hand controller apparatus can also include a processor configured to control the tool to perform one or more of the plurality of tool functions in response to the sensed one or more second operator inputs.
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公开(公告)号：US20200205854A1
公开(公告)日：2020-07-02
申请号：US16235288
申请日：2018-12-28
申请人： Titan Medical Inc.
摘要： In some embodiments an apparatus for providing access for a medical procedure in a patient's body cavity includes a stem configured for insertion through an opening in a body cavity wall. The stem has a bore and a cap is disposed at a proximal end thereof and includes an entry port in communication with the bore which receives an instrument to be inserted into the body cavity. An inflatable annular seal is disposed on the stem proximate the cap and a conduit extends through the cap providing pressurized gas at a first outlet in fluid communication with the body cavity providing insufflation pressure. A second outlet of the conduit is in fluid communication the seal, which when disposed inside the body cavity proximate the wall and inflated by pressurized gas, bears on an inner surface of the wall urging the cap into contact with an outer surface of the wall while sealing the opening.
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公开(公告)号：US20190314095A1
公开(公告)日：2019-10-17
申请号：US16455192
申请日：2019-06-27
申请人： TITAN MEDICAL INC.
发明人： John D. Unsworth
IPC分类号： A61B34/30 , A61B90/00 , G01D5/26 , G06F3/01 , G06F3/03 , G06T11/00 , A61B34/00 , A61B34/20 , A61B34/10 , A61B34/37
摘要： A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand's changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.
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公开(公告)号：US20190282309A1
公开(公告)日：2019-09-19
申请号：US16432231
申请日：2019-06-05
申请人： Titan Medical Inc.
发明人： Uwe Schaible , Drazena Brocilo , John Harmen
摘要： A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.
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公开(公告)号：US20190269472A1
公开(公告)日：2019-09-05
申请号：US16411537
申请日：2019-05-14
申请人： Titan Medical Inc.
发明人： Joseph KRALICKY , Peter CAMERON
摘要： In some embodiments, correcting an alignment error between an end effector of a tool associated with a slave and a master actuator associated with a master in a robotic system involves receiving at the master, master actuator orientation signals (RMCURR) representing the orientation of the master actuator relative to a master reference frame and generating end effector orientation signals (REENEW) representing the end effector orientation relative to a slave reference frame, producing control signals based on the end effector orientation signals, receiving an enablement signal for selectively enabling the control signals to be transmitted from the master to the slave, responsive to a transition of the enablement signal from not active state to active state, computing the master-slave misalignment signals (RΔ) as a difference between the master actuator orientation signals (RMCURR) and the end effector orientation signals (REENEW), and adjusting the master-slave misalignment signals (RΔ) to reduce the alignment difference.
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公开(公告)号：US10284838B2
公开(公告)日：2019-05-07
申请号：US15677307
申请日：2017-08-15
申请人： TITAN MEDICAL INC.
发明人： George Grubner , Paul Nickelsberg
IPC分类号： H04N19/00 , H04N13/161 , H04N13/194 , H04N13/239 , H04N13/296
摘要： Methods and apparatuses for transmitting images captured by first and second image sensors are disclosed. In some embodiments, each image sensor generates a plurality of pixel values each represented by a plurality of data bits having a pixel bit length. In some embodiments, a method involves combining pixel values generated by each of the first and second image sensors into a single image data stream, transforming the single image data stream into a plurality of data words having a word bit length, and encoding the data by selection of one of a plurality of symbols having an encoded bit length that is at least one bit longer than the word bit length to reduce a running disparity. The method also involves serializing the symbols to generate and transmit a DC balanced serial bitstream. Methods for synchronizing a receiver for extracting image data from the serial bitstream are also disclosed.
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