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公开(公告)号：US20170265948A1
公开(公告)日：2017-09-21
申请号：US15608907
申请日：2017-05-30
发明人： Giuseppe Maria Prisco , Hubert Stein , Paul Millman , David W. Bailey , William C. Nowlin , Thomas R. Nixon , Gregory K. Toth
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361
摘要： A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.
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公开(公告)号：US09554790B2
公开(公告)日：2017-01-31
申请号：US15072080
申请日：2016-03-16
CPC分类号： A61B17/0218 , A61B1/00087 , A61B1/313 , A61B1/32 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2017/0225 , A61B2017/0237 , A61B2034/305
摘要： Minimaily invasive surgical retractors and methods of using the retractors are provided. This retractor may be introduced through a sealed port, controlled by a robotic system, have full articulation, and need not require assembly within the patient's body. As a result, fully endoscopic mitral valve surgery may be performed.
摘要翻译： 提供了微创外科牵开器和使用牵开器的方法。 该收缩器可以通过由机器人系统控制的密封端口引入，具有完全关节，并且不需要在患者体内组装。 因此，可以进行完全内窥镜二尖瓣手术。
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公开(公告)号：US09314926B2
公开(公告)日：2016-04-19
申请号：US13767856
申请日：2013-02-14
发明人： David W. Bailey , Simon P. DiMaio , Tao Zhao , Lawton N. Verner , Alan E. Loh , Jonathan Sorger , Bruce Michael Schena
CPC分类号： B25J11/00 , A61B34/30 , A61B90/11 , A61B2017/00274 , A61B2017/3409 , A61B2018/1425 , A61B2034/2059 , A61B2090/3954 , A61B2090/3983 , A61B2090/506 , B25J5/02 , B25J9/1065
摘要： Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors.
摘要翻译： 公开了一种仪器操纵器的实施例。 仪器操纵器可以包括轨道; 一个平行的马车，沿着轨道骑行; 耦合到平移滑架的肩偏转接头; 肩肩关节，其联接到所述肩偏转关节，所述肩部髓关节包括臂，联接到所述臂的腕架，连接在所述腕架和所述肩偏转接头之间的支柱，以及联接到所述臂的肩部俯仰机构; 偏转俯仰滚动手腕，其连接到所述腕架上，所述偏航俯仰辊手腕包括偏转接头和差速驱动的俯仰辊接头; 以及耦合到手腕的仪器座。 各种接头和托架可由电机驱动。
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公开(公告)号：US20240207005A1
公开(公告)日：2024-06-27
申请号：US18600440
申请日：2024-03-08
CPC分类号： A61B34/71 , A61B34/25 , A61B90/37 , A61M25/0113 , A61B2034/107 , A61B2034/2051 , A61B2034/301 , A61B34/35 , A61B2034/715
摘要： A medical instrument system is provided. The medical instrument system comprises an instrument manipulator configured to control a pose of a medical instrument with respect to a patient anatomy. The medical instrument system further comprises a support structure configured to control a pose of the instrument manipulator. The medical instrument system further comprises a control system including a processor. The control system is configured to: receive data for determining a shape of a length of the medical instrument; compare the shape of the length of the medical instrument with a threshold value; determine if the shape of the length of the medical instrument is beyond the threshold value; and provide instructions for adjusting a position of the instrument manipulator based on the determination.
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公开(公告)号：US20240148458A1
公开(公告)日：2024-05-09
申请号：US18501430
申请日：2023-11-03
发明人： David W. Bailey
IPC分类号： A61B34/00
CPC分类号： A61B34/73 , A61B34/25 , A61B2034/2061
摘要： A system comprises an instrument drive system that comprises a first housing, a first magnetic coupling member within the first housing, and a motor mechanically coupled to the first magnetic coupling member. The motor is configured to rotate the first magnetic coupling member. The system further comprises a medical instrument that comprises a second housing, a rotor within the second housing, and a second magnetic coupling member within the second housing and mechanically coupled to the rotor. The second magnetic coupling member is spaced from and magnetically coupled to the first magnetic coupling member. Rotation of the first magnetic coupling member causes rotation of the second magnetic coupling member and the rotor.
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公开(公告)号：US11960665B2
公开(公告)日：2024-04-16
申请号：US17407634
申请日：2021-08-20
发明人： David W. Bailey , Federico Barbagli , Reuben D. Brewer , Christopher R Carlson , Vincent Duindam , Tania K. Morimoto , Michael D. Paris , Oliver J. Wagner
IPC分类号： A61B46/10 , A61B1/00 , A61B34/00 , A61B34/35 , G06F3/0354 , A61B34/20 , A61B34/30 , A61B90/00 , A61M25/01
CPC分类号： G06F3/03547 , A61B1/00042 , A61B34/25 , A61B34/35 , A61B34/74 , A61B46/10 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2090/3735 , A61M25/0113
摘要： A drape for an input control console of an elongate device may comprise a main drape section configured to fit over the input control console via a main opening at one end of the main drape section. The drape may also comprise a plurality of pockets. Each of the plurality of pockets may include a pocket opening that is attached to a respective secondary opening in the main drape section. Each of the plurality of pockets may be configured to be anchored, at the pocket opening, to a side surface of a respective raised ring or bezel on the input control console using a respective tightening element.
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公开(公告)号：US20240115112A1
公开(公告)日：2024-04-11
申请号：US18490302
申请日：2023-10-19
发明人： Nicola Diolaiti , David W. Bailey
CPC分类号： A61B1/00042 , A61B1/00006 , A61B1/0004 , A61B17/00234 , A61B34/20 , A61B34/35 , A61B90/06 , A61B2034/301
摘要： A control system for a device comprises a processor configured to receive, via one or more sensors, a contact signal indicating that an operator is in contact with an input control of an input control console coupled to the control system. The processor is further configured to determine whether the contact signal is an activation signal. The processor is further configured to receive an input representing a commanded motion of the device at the input control. The processor is further configured to execute the commanded motion if the processor determines that the contact signal is the activation signal.
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公开(公告)号：US11938281B2
公开(公告)日：2024-03-26
申请号：US17330693
申请日：2021-05-26
CPC分类号： A61M25/01 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/71 , A61B2034/2051 , A61B2034/2059 , A61B2034/2061 , A61B2034/301 , A61B2090/364 , A61B2090/371
摘要： An apparatus for guiding an elongated flexible instrument comprises a variable-length support assembly. The variable-length support assembly includes a first end, a second end, a plurality of support member pairs, and a plurality of eyelets configured to receive the elongated flexible instrument. Each support member pair comprises a first support member linked to a second support member, and each of the plurality of eyelets is movably coupled to at least one of the plurality of support member pairs along a longitudinal central axis between the first end and the second end. The variable-length support assembly is configured to selectively transition from a compressed configuration to an expanded configuration along the longitudinal central axis, and the plurality of eyelets are adapted to support the elongated flexible instrument as the elongated flexible instrument is advanced along the longitudinal central axis. Each of the plurality of eyelets includes a tapered alignment member configured to contact a tapered alignment member of an adjacent eyelet to move the plurality of eyelets into alignment along the longitudinal axis as the variable length assembly transitions from the expanded configuration to the compressed configuration.
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公开(公告)号：US11439472B2
公开(公告)日：2022-09-13
申请号：US16847267
申请日：2020-04-13
发明人： Giuseppe Maria Prisco , Hubert Stein , Paul Millman , David W. Bailey , William C. Nowlin , Gregory K. Toth , Thomas R. Nixon
摘要： A slave manipulator manipulates a medical device in response to operator manipulation of an input device through joint control systems. The stiffness and strength of the slave manipulator are adjustable according to criteria such as the mode of operation of the slave manipulator, the functional type of the medical device currently being held by the slave manipulator, and the current phase of a medical procedure being performed using the slave manipulator by changing corresponding parameters of the control system. For safety purposes, such changes are not made until it is determined that it can be done in a smooth manner without causing jerking of the medical device. Further, an excessive force warning may be provided to surgery staff when excessive forces are being commanded on the slave manipulator for more than a specified period of time.
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公开(公告)号：US11298505B2
公开(公告)日：2022-04-12
申请号：US16291398
申请日：2019-03-04
发明人： David W. Bailey , Jared J. Butler , Larry L. Howell , Brian D. Jensen , Spencer P. Magleby , Brandon Scott Sargent , Kendall Hal Seymour
摘要： An origami bellows includes a plurality of layers including a support layer having a diameter that remains fixed irrespective of axial expansion or compression of the origami bellows. The origami bellows may be used as an anti-buckling device providing lateral support to a catheter or other elongated medical instrument.
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