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公开(公告)号：US08489235B2
公开(公告)日：2013-07-16
申请号：US12959704
申请日：2010-12-03
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
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公开(公告)号：US20120130399A1
公开(公告)日：2012-05-24
申请号：US13299548
申请日：2011-11-18
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, JR. , Michael J. Tierney
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。
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公开(公告)号：US20110270271A1
公开(公告)日：2011-11-03
申请号：US13175550
申请日：2011-07-01
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
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 n 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 method for their use are also provided.
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公开(公告)号：US06364888B1
公开(公告)日：2002-04-02
申请号：US09287858
申请日：1999-04-07
IPC分类号： A61B1900
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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公开(公告)号：US06714839B2
公开(公告)日：2004-03-30
申请号：US09398507
申请日：1999-09-17
申请人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Günter D. Niemeyer , Eugene F. Duval
发明人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Günter D. Niemeyer , Eugene F. Duval
IPC分类号： G06F1900
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J9/1615 , B25J9/1643 , Y10S128/923
摘要： The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.
摘要翻译： 本发明提供一种用于机器人手术技术和其他应用的输入装置。 输入装置具有由具有冗余自由度的关节的连杆支撑的手柄，其中关节可以比手柄至少一个以上自由度移动。 主动地驱动联动装置的至少一个关节，以防止连接件接近联合系统的奇异点，关节的运动限制等，并且还可以将联动装置驱动到可自由铰接的构造。 在一个实施例中，机器人主控制器包括支撑具有这种冗余连杆的万向架的臂组件，其中臂主要将万向架定位在三维控制器工作空间中，并且万向架以四个旋转自由度将手臂连接到手柄。 还可以提供一个或多个附加自由度来驱动手柄。
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公开(公告)号：US06684129B2
公开(公告)日：2004-01-27
申请号：US10121283
申请日：2002-04-11
申请人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Gunter D. Niemeyer , Eugene F. Duval
发明人： J. Kenneth Salisbury, Jr. , Akhil J. Madhani , Gary S. Guthart , Gunter D. Niemeyer , Eugene F. Duval
IPC分类号： G06F1900
CPC分类号： B25J3/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/76 , B25J9/1615 , B25J9/1643 , Y10S128/923
摘要： An input device for robotic surgical techniques and other applications has a handle supported by a linkage with a redundant degree of freedom, the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, and also to drive the linkage toward a freely articulatable configuration. A robotic master controller can include an arm assembly supporting a gimbal having a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle, to close the jaws of a surgical grasper.
摘要翻译： 用于机器人手术技术和其他应用的输入装置具有由具有冗余自由度的连杆支撑的手柄，所述关节可以比手柄至少一个自由度移动。 主动地驱动联动装置的至少一个关节，以防止连接件接近联合系统的奇异点，关节的运动极限，并且还可以将连杆驱动到可自由铰接的构型。 机器人主控制器可以包括支撑具有冗余连杆的万向架的臂组件，其中臂主要将万向架定位在三维控制器工作空间中，并且万向架以四个旋转自由度将手臂连接到手柄。 也可以提供一个或多个附加的自由度用于致动手柄，以闭合手术夹紧器的钳口。
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公开(公告)号：US07607440B2
公开(公告)日：2009-10-27
申请号：US10165413
申请日：2002-06-06
申请人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
发明人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
IPC分类号： A61B19/00
CPC分类号： A61B34/10 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2034/107 , A61B2034/301 , B25J9/1671 , G05B2219/40418 , G06T1/0014 , G06T7/0012 , G06T2207/10004
摘要： Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus, and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.
摘要翻译： 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这样的方法，装置和系统也可用于非手术环境中，例如用于在弹药扩散或危险废物处理中的机器人端口放置。
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公开(公告)号：US08571710B2
公开(公告)日：2013-10-29
申请号：US13432305
申请日：2012-03-28
申请人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
发明人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
IPC分类号： G06F19/00
CPC分类号： A61B34/10 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2034/107 , A61B2034/301 , B25J9/1671 , G05B2219/40418 , G06T1/0014 , G06T7/0012 , G06T2207/10004
摘要： Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions defusion or hazardous waste handling.
摘要翻译： 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这种方法，装置和系统也可以用于非外科环境中，例如用于在弹药捣毁或危险废物处理中的机器人端口。
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公开(公告)号：US20120253515A1
公开(公告)日：2012-10-04
申请号：US13432305
申请日：2012-03-28
申请人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
发明人： Eve C. Coste-Maniere , Louai Adhami , Jean-Daniel Boissonnat , Alain Carpentier , Gary S. Guthart
IPC分类号： G06F19/00
CPC分类号： A61B34/10 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2034/107 , A61B2034/301 , B25J9/1671 , G05B2219/40418 , G06T1/0014 , G06T7/0012 , G06T2207/10004
摘要： Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus and systems may also be used in nonsurgical contexts, such as for robotic port placement in munitions defusion or hazardous waste handling.
摘要翻译： 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这样的方法，装置和系统也可以用于非外科环境中，例如用于在弹药捣毁或危险废物处理中的机器人端口。
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60.发明授权Non-force reflecting method for providing tool force information to a user of a telesurgical system 有权用于向远程外科手术系统的用户提供工具力信息的非强制反射方法公开(公告)号：US08944070B2
公开(公告)日：2015-02-03
申请号：US11093372
申请日：2005-03-30
CPC分类号： A61B34/30 , A61B1/00045 , A61B1/0005 , A61B1/04 , A61B1/3132 , A61B8/12 , A61B8/4218 , A61B8/4245 , A61B17/00234 , A61B18/20 , A61B34/20 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/305 , A61B2090/031 , A61B2090/064 , A61B2090/065 , A61B2090/066 , A61B2090/0807 , A61B2090/506
摘要： Tool force information is provided to a user of a telesurgical system using an alternative modality other than force reflection on a master manipulator, such as providing the information on user-visible, user-audible, or haptic “buzz” or “viscosity” indicators, so as to allow expanded processing, including amplification, of the information, while not significantly affecting the stability of the telesurgical system or any closed-loop control systems in the telesurgical system.
摘要翻译： 使用除主力操纵器上的力反射之外的替代方式（例如提供关于用户可见的，用户可听的或触觉的“嗡嗡声”或“粘性”）指示符的信息，向远程外科系统的用户提供工具力信息， 以允许信息的扩展处理，包括放大，同时不显着影响远程外科系统或远程外科系统中的任何闭环控制系统的稳定性。
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