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公开(公告)号：US11291442B2
公开(公告)日：2022-04-05
申请号：US16072329
申请日：2017-01-27
发明人： Matthew A. Wixey , Gabriel F. Brisson , William A. Burbank , Patrick Flanagan , Pushkar Hingwe , David W. Weir , Donald F. Wilson, Jr.
IPC分类号： A61B17/072 , A61B90/00 , A61B34/10 , A61B34/30 , A61B34/00 , A61B34/35 , A61B17/00 , A61B34/20
摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.
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公开(公告)号：US11284954B2
公开(公告)日：2022-03-29
申请号：US15212982
申请日：2016-07-18
摘要： A method of controlling a surgical instrument comprising an end effector may comprise detecting a first signal indicating that an end effector component of a surgical instrument is positioned between a first position and a second position; and automatically controlling operation of the end effector component when a second signal is not detected within a predetermined delayed response time period after detecting the first signal, wherein the second signal indicates that the end effector component is in one of the first position or the second position.
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公开(公告)号：US11219493B2
公开(公告)日：2022-01-11
申请号：US16792599
申请日：2020-02-17
摘要： A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
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公开(公告)号：US10912544B2
公开(公告)日：2021-02-09
申请号：US15735082
申请日：2016-06-10
摘要： A method of engaging a medical instrument with a medical instrument manipulator comprises receiving an indication that a first input coupling of the medical instrument is positioned adjacent to a first drive output of the manipulator. The first drive output is driven by a first actuating element. In response to receiving the indication, the first drive output is rotated in a first rotational direction. A determination is made, by one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating the first drive output in the first rotational direction. If the resistance torque is not experienced by the first actuating element after rotating of the first drive output in the first rotational direction, the first drive output is rotated in a second rotational direction. A determination is made, by the one or more processors, as to whether a resistance torque is experienced by the first actuating element after rotating of the first drive output in the second rotational direction.
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公开(公告)号：US20200253671A1
公开(公告)日：2020-08-13
申请号：US16792599
申请日：2020-02-17
摘要： A surgical tool having an elongated shaft having a proximal end and distal end. A surgical end effector is located about the distal end. The surgical end effector has a plurality of effector mechanisms comprising a plurality of degree of freedoms. An effector body is located at the proximal end. The effector body includes a plurality of motor interfaces for driving the plurality of effector mechanisms. A transmission is coupled to the effector body.
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公开(公告)号：US10368954B2
公开(公告)日：2019-08-06
申请号：US14631810
申请日：2015-02-25
IPC分类号： A61B17/28 , A61B17/29 , A61B34/00 , A61B34/30 , A61B17/00 , A61B90/00 , A61B34/20 , A61B34/32 , A61B34/37
摘要： Surgical assemblies and related methods are disclosed that provide for decoupling of instrument shaft roll and end effector actuation. A surgical assembly includes a base, an instrument shaft rotationally mounted to the base, an end effector supported at a distal end of the instrument shaft and including an actuation mechanism driven by a rotational motion, a drive shaft rotationally coupled with the actuation mechanism and configured to provide the rotational motion to the actuation mechanism, and a differential rotationally coupled to the drive shaft and receiving a first input motion and a second input motion. The differential combines the first and second input motions to generate an output motion that rotates the drive shaft. The first input motion is rotationally coupleable to an actuation source. The second input motion is coupled to rotation of the instrument shaft relative to the base.
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47.发明申请公开(公告)号：US20190105117A1
公开(公告)日：2019-04-11
申请号：US16201887
申请日：2018-11-27
发明人： Gabriel F. Brisson
摘要： Devices, systems, and methods for controlling manipulator movements include a manipulator arm coupled to a proximal base. The manipulator arm is configured to support an end effector and robotically move the end effector relative to the proximal base. The manipulator arm includes a plurality of joints between the end effector and the proximal base and a processor. The processor is configured to calculate joint movements of the plurality of joints that provide a desired position of the end effector using inverse kinematics of the manipulator arm and when a first set of one or more joints of the plurality of joints is at corresponding joint range of motion limits: determine a constraint based on a relationship between joint movement of the first set and a second set of one or more joints of the plurality of joints and apply the constraint within the inverse kinematics to provide haptic feedback.
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公开(公告)号：US20190060012A1
公开(公告)日：2019-02-28
申请号：US16111565
申请日：2018-08-24
摘要： A robotic system comprises a robotic assembly comprising a drive mechanism, a sensor assembly, and a controller communicatively coupled to the sensor assembly. The controller has at least one processor configured to execute a method. The method comprises recording a position of the drive mechanism to non-volatile memory during use of the robotic assembly and receiving a request to initiate a mid-procedure restart of the robotic assembly after a mid-procedure shut-down of the robotic assembly. The method also comprises determining whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the drive mechanism and preventing further use of the robotic assembly in response to a determination that the post-shutdown position of the drive mechanism is not within the accepted tolerance with respect to the pre-shutdown position of the drive mechanism.
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公开(公告)号：US20190053801A1
公开(公告)日：2019-02-21
申请号：US16072329
申请日：2017-01-27
发明人： Matthew A. Wixey , Gabriel F. Brisson , William A. Burbank , Patrick Flanagan , Pushkar Hingwe , David W. Weir , Donald F. Wilson, JR.
IPC分类号： A61B17/072 , A61B90/00
摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.
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公开(公告)号：US09730719B2
公开(公告)日：2017-08-15
申请号：US14498750
申请日：2014-09-26
发明人： Gabriel F. Brisson , Alan Loh , Lawrence Kerver
IPC分类号： A61B17/00 , A61B17/32 , A61B17/295 , A61B17/285 , A61B34/30 , A61B17/29 , A61B18/14
CPC分类号： A61B17/295 , A61B17/285 , A61B17/320016 , A61B34/30 , A61B2017/00389 , A61B2017/2915 , A61B2017/2936 , A61B2018/1455
摘要： Methods for treating tissue, and surgical assemblies and related methods are disclosed in which a single input is used to sequentially articulate two members. A surgical assembly includes an end effector, a base supporting the end effector, an input link movable relative to the base through a range of motion between a first configuration and a second configuration, and an actuation mechanism. The end effector includes a first articulated member and a second articulated member. The actuation mechanism drivingly couples the input link to the first articulated member within a first portion of the range of motion and drivingly coupling the input link with the second articulated member within a second portion of the range of motion so that a movement of the input link from the first configuration to the second configuration articulates the first articulated member and then articulates the second articulated member.
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