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公开(公告)号：US11659978B2
公开(公告)日：2023-05-30
申请号：US16503197
申请日：2019-07-03
IPC分类号： A61B1/00 , A61B34/37 , A61B34/30 , A61B34/00 , A61B1/005 , A61B1/018 , A61B90/10 , A61B1/002 , A61B5/00 , A61B8/12 , A61B1/04 , A61B1/06 , A61B1/05 , A61B17/00 , A61B90/00 , A61B17/34 , A61B34/20
CPC分类号： A61B1/00087 , A61B1/002 , A61B1/0016 , A61B1/0051 , A61B1/00149 , A61B1/00154 , A61B1/00165 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/05 , A61B1/06 , A61B5/0086 , A61B8/12 , A61B17/00234 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/72 , A61B90/10 , A61B1/0055 , A61B90/361 , A61B2017/0034 , A61B2017/00225 , A61B2017/00314 , A61B2017/00318 , A61B2017/00323 , A61B2017/00398 , A61B2017/00477 , A61B2017/3447 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61B2034/306
摘要： A surgical system comprises a manipulator arm, configured to secure to a base, and an actuator assembly. The actuator assembly includes an instrument mounting bracket and a plurality of actuator disks supported on a first end of the instrument mounting bracket. The surgical system also includes a surgical instrument including a plurality of interface disks supported on a face of the surgical instrument. The plurality of interface disks is configured to mate with the plurality of actuator disks. The instrument also includes an attachment mechanism configured to removably attach the surgical instrument to the actuator assembly and an instrument body tube extending from the face of the surgical instrument. The instrument body tube is capable of passing by or passing through the instrument mounting bracket when the surgical instrument is attached to the instrument mounting bracket.
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公开(公告)号：US11517379B2
公开(公告)日：2022-12-06
申请号：US16575095
申请日：2019-09-18
IPC分类号： A61B34/30 , A61M13/00 , A61B34/00 , A61B34/37 , A61M1/00 , A61M39/24 , A61B90/50 , A61B17/00
摘要： A surgical instrument comprises a housing and a valve mounted in the housing. The valve is configured to control a flow of a fluid into or out of a surgical site in response to either a robotic actuation of the valve or a manual actuation of the valve. The valve comprises a valve shaft, a receiving member structurally coupled to the valve shaft, and a manual actuation component structurally coupled to the valve shaft and extending from the housing. The receiving member is configured to releasably couple to a driver of a robotic manipulator to receive the robotic actuation from the driver remotely controlled by a surgeon to adjust a state of the valve. The manual actuation component is configured to receive the manual actuation to adjust the state of the valve.
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公开(公告)号：US11116590B2
公开(公告)日：2021-09-14
申请号：US16139451
申请日：2018-09-24
发明人： David Q. Larkin , Vincent Duindam
摘要： A system comprises an arm including a bendable section and a force transmission mechanism. The system also comprises an actuation mechanism coupled to the force transmission mechanism to bend the bendable section. The system also comprises an electronic data processor configured to receive sensor data about the bendable section and determine external force information about at least one of a magnitude or a direction of an external force applied to the arm from the sensor data. the processor is also configured to determine a pose of the bendable section from the sensor data and generate control information for the actuation mechanism to maintain the pose of the bendable section in a stationary configuration as the external force is applied to or withdrawn from the arm.
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公开(公告)号：US20210228063A1
公开(公告)日：2021-07-29
申请号：US17190936
申请日：2021-03-03
摘要： An apparatus for performing surgical procedures is disclosed including a flexible entry guide tube and a first steering device. The 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. The first steering device is insertable into the instrument lumen to shape the 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 guide tube to hold its shape. The guide tube may be steered by remote control with one or more actuators.
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公开(公告)号：US10984567B2
公开(公告)日：2021-04-20
申请号：US16351444
申请日：2019-03-12
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian David Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： G06T11/60 , B25J9/16 , G06T11/40 , A61B34/37 , A61B34/30 , A61B90/00 , G05B19/42 , A61B34/20 , A61B34/00
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.
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46.发明授权公开(公告)号：US10898287B2
公开(公告)日：2021-01-26
申请号：US16781457
申请日：2020-02-04
发明人： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
摘要： A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
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公开(公告)号：US20210015555A1
公开(公告)日：2021-01-21
申请号：US17062963
申请日：2020-10-05
摘要： A method comprises receiving a surgical instrument into engagement with a grip actuator of a teleoperational activation system. The surgical instrument includes movable jaws, and the surgical instrument is received in a prearranged gripping configuration with the jaws gripping a surgical accessory. The method includes generating a first control signal for manipulating the surgical instrument while maintaining the surgical instrument in the prearranged gripping configuration. The method further includes generating a second control signal for manipulating the surgical instrument to move from the prearranged gripping configuration to a second configuration.
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公开(公告)号：US20200289023A1
公开(公告)日：2020-09-17
申请号：US16837159
申请日：2020-04-01
IPC分类号： A61B5/06 , A61B17/3209 , A61B10/02 , A61B17/34 , A61B34/20
摘要： A minimally invasive system comprises an elongate medical instrument including a flexible body. The flexible body includes a wall including a channel, and the channel includes a groove. The flexible body further includes a lumen defined by an interior surface of the wall and a curved distal tip portion. The elongate medical instrument further includes a shape sensor coupled to the flexible body. The shape sensor is at least partially positioned within the groove, and the shape sensor is configured to detect shape characteristics of at least a portion of the flexible body. The system further includes an actuator for manipulating the elongate medical instrument.
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49.发明授权公开(公告)号：US10575909B2
公开(公告)日：2020-03-03
申请号：US15796016
申请日：2017-10-27
发明人： David W. Robinson , Thomas R. Nixon , Michael Hanuschik , Randal P. Goldberg , Jason Hemphill , David Q. Larkin , Paul Millman
IPC分类号： G06F19/00 , A61B34/35 , A61B18/12 , A61B34/30 , A61B34/00 , A61B18/14 , A61B17/00 , A61B18/00
摘要： A user interface for a surgical system can include a display configured to output video images of a remote surgical site at which one or more electrosurgical instruments of the surgical system are deployed; and a graphical user interface configured to be output on the display with the video images. The graphical user interface may comprise a visual indication of a state of the one or more electrosurgical instruments that indicates a state of the one or more electrosurgical instruments being ready for activation to deliver energy or actively delivering energy.
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公开(公告)号：US20200060777A1
公开(公告)日：2020-02-27
申请号：US16667523
申请日：2019-10-29
摘要： 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 in 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 methods for their use are also provided.
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