公开(公告)号：US20100313679A1

公开(公告)日：2010-12-16

申请号：US12793014

申请日：2010-06-03

申请人： David Q. Larkin ,  Stephen J. Blumenkranz ,  Rajesh Kumar

发明人： David Q. Larkin ,  Stephen J. Blumenkranz ,  Rajesh Kumar

IPC分类号： G01L1/22

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2034/305 ,  A61B2090/064

摘要： A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

摘要翻译： 提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。 在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及 用于向近侧联接到联接到端部的腕关节的远端管部分。

公开(公告)号：US20090326556A1

公开(公告)日：2009-12-31

申请号：US12336713

申请日：2008-12-17

申请人： Nicola Diolaiti ,  David Q. Larkin ,  Daniel Gomez ,  Tabish Mustufa ,  Paul W. Mohr ,  Paul Lilagan

发明人： Nicola Diolaiti ,  David Q. Larkin ,  Daniel Gomez ,  Tabish Mustufa ,  Paul W. Mohr ,  Paul Lilagan

IPC分类号： A61B19/00

CPC分类号： 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

摘要： 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.

摘要翻译： 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：US20090099692A1

公开(公告)日：2009-04-16

申请号：US12247346

申请日：2008-10-08

申请人： Giuseppe Prisco ,  David Q. Larkin

发明人： Giuseppe Prisco ,  David Q. Larkin

IPC分类号： B25J13/08

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/305 ,  B25J9/1646 ,  B25J9/1689 ,  G05B2219/42347 ,  G05B2219/42351 ,  G05B2219/42352 ,  G05B2219/45123 ,  A61B19/2203 ,  A61B19/5212

摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

公开(公告)号：US07453227B2

公开(公告)日：2008-11-18

申请号：US11613962

申请日：2006-12-20

申请人： Giuseppe M. Prisco ,  David Q Larkin

发明人： Giuseppe M. Prisco ,  David Q Larkin

IPC分类号： B25J13/08

CPC分类号： A61B19/22 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B90/361 ,  A61B2034/305 ,  B25J9/1646 ,  B25J9/1689 ,  G05B2219/42347 ,  G05B2219/42351 ,  G05B2219/42352 ,  G05B2219/45123 ,  A61B19/2203 ,  A61B19/5212

摘要： A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.

摘要翻译： 医疗机器人系统具有联接到医疗装置或适于保持和/或移动用于执行医疗程序的医疗装置的从动操纵器或机器人臂的联接器，以及用于根据用户操纵的控制来控制关节的移动的控制系统 主操纵器。 该控制系统包括至少一个具有滑动模式控制的联合控制器，用于在关节的精细运动期间减小其受控关节上的滑动性能。 滑动模式控制计算到滑动表面的距离，计算到达法律增益，并且处理距离和达到法律增益以产生绝对值小于最大期望反馈控制动作的滑动模式控制动作。 然后进一步处理滑动模式控制动作，以产生用于联合马达的反馈扭矩指令。

公开(公告)号：US20080221732A1

公开(公告)日：2008-09-11

申请号：US12114082

申请日：2008-05-02

申请人： Gregory K. Toth ,  Nitish Swarup ,  Tom Nixon ,  David Q. Larkin ,  Steven J. Colton

发明人： Gregory K. Toth ,  Nitish Swarup ,  Tom Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC分类号： B25J9/00

CPC分类号： A61B34/32 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  G05B2219/45123 ,  G05B2219/49305 ,  G06F19/00 ,  G16H40/40 ,  Y10S901/02 ,  Y10S901/41

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.

摘要翻译： 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。

公开(公告)号：US20070151391A1

公开(公告)日：2007-07-05

申请号：US11553303

申请日：2006-10-26

申请人： David Q. Larkin ,  Stephen J. Blumenkranz ,  Rajesh Kumar

发明人： David Q. Larkin ,  Stephen J. Blumenkranz ,  Rajesh Kumar

IPC分类号： B25J17/02

CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B2034/2061 ,  A61B2034/305 ,  A61B2090/065 ,  Y10T74/20335

摘要： A modular force sensor apparatus, method, and system are provided to improve force and torque sensing and feedback to the surgeon performing a telerobotic surgery. In one embodiment, a modular force sensor includes a tube portion including a plurality of strain gauges, a proximal tube portion for operably coupling to a shaft of a surgical instrument that may be operably coupled to a manipulator arm of a robotic surgical system, and a distal tube portion for proximally coupling to a wrist joint coupled to an end portion.

摘要翻译： 提供了一种模块式力传感器装置，方法和系统，以改善对外科医生执行远程外科手术的力和转矩检测和反馈。 在一个实施例中，模块化力传感器包括包括多个应变计的管部分，用于可操作地联接到外科器械的轴的近侧管部分，其可操作地联接到机器人手术系统的操纵臂，以及 用于向近侧联接到联接到端部的腕关节的远端管部分。

公开(公告)号：US20070142823A1

公开(公告)日：2007-06-21

申请号：US11479144

申请日：2006-06-30

申请人： Giuseppe M. Prisco ,  David Q. Larkin ,  William C. Nowlin

发明人： Giuseppe M. Prisco ,  David Q. Larkin ,  William C. Nowlin

IPC分类号： A61B17/00

CPC分类号： 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

摘要： 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.

摘要翻译： 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接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力， 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：US10555775B2

公开(公告)日：2020-02-11

申请号：US11130471

申请日：2005-05-16

申请人： Brian David Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G Zhang ,  Rajesh Kumar

发明人： Brian David Hoffman ,  David Q. Larkin ,  Giuseppe Prisco ,  Guanghua G Zhang ,  Rajesh Kumar

IPC分类号： A61B5/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B5/00 ,  A61B34/10

摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.

公开(公告)号：US09962066B2

公开(公告)日：2018-05-08

申请号：US12165633

申请日：2008-06-30

申请人： Theodore W. Rogers ,  David Q. Larkin

发明人： Theodore W. Rogers ,  David Q. Larkin

IPC分类号： A61B17/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/005 ,  A61B34/37 ,  A61B34/00 ,  A61B1/008 ,  A61B17/34 ,  A61B34/20 ,  A61B34/30 ,  A61B1/018 ,  A61B17/29

CPC分类号： A61B1/0051 ,  A61B1/00039 ,  A61B1/00087 ,  A61B1/00128 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00193 ,  A61B1/005 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/01 ,  A61B1/018 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00327 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/347 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306

摘要： In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.

公开(公告)号：US20180000318A9

公开(公告)日：2018-01-04

申请号：US12165633

申请日：2008-06-30

申请人： Theodore W. Rogers ,  David Q. Larkin

发明人： Theodore W. Rogers ,  David Q. Larkin

IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B34/37 ,  A61B34/30 ,  A61B34/00 ,  A61B34/20 ,  A61B1/018 ,  A61B17/29 ,  A61B17/00 ,  A61B17/34

CPC分类号： A61B1/0051 ,  A61B1/00039 ,  A61B1/00087 ,  A61B1/00128 ,  A61B1/00133 ,  A61B1/00135 ,  A61B1/00193 ,  A61B1/005 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/0058 ,  A61B1/008 ,  A61B1/01 ,  A61B1/018 ,  A61B17/29 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B34/72 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00327 ,  A61B2017/3445 ,  A61B2017/3447 ,  A61B2017/347 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2034/306

摘要： In one embodiment of the invention, an apparatus for performing surgical procedures is disclosed including a flexible entry guide tube, and a first steering device. The flexible entry guide tube has one or more lumens extending along its length from a proximal end to substantially at or near a distal end. At least one of the one or more lumens is an instrument lumen with open ends to receive a flexible shaft of a surgical tool to perform surgery near the distal end of the flexible entry guide tube. The first steering device is insertable into the instrument lumen to shape the flexible entry guide tube as it is inserted through an opening in a body and along a path towards a surgical site. The apparatus may further include a flexible locking device to couple to the flexible entry guide tube and selectively rigidize the flexible entry guide tube to hold its shape. The flexible entry guide tube may be steered by remote control with one or more actuators.