公开(公告)号：US11980344B2

公开(公告)日：2024-05-14

申请号：US16331657

申请日：2017-09-20

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Vincent Duindam ,  Timothy D. Soper

IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B1/01 ,  A61B5/00 ,  A61B5/06 ,  A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/20 ,  A61B34/30 ,  A61B90/00

CPC分类号： A61B1/00149 ,  A61B1/00006 ,  A61B1/00057 ,  A61B1/0016 ,  A61B1/009 ,  A61B1/01 ,  A61B5/065 ,  A61B5/6852 ,  A61B34/25 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/2065 ,  A61B2034/254 ,  A61B2034/301 ,  A61B2090/065 ,  A61B2090/3614 ,  A61B2090/371 ,  A61B2090/3735 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/3762

摘要： A method comprises measuring, with a sensor, a shape of a section of an elongated flexible instrument and comparing the measured shape of the section of the elongated flexible instrument to an expected shape. The method also comprises determining whether the measured shape of the section of the elongated flexible instrument differs from the expected shape by a predefined threshold.

公开(公告)号：US11974829B2

公开(公告)日：2024-05-07

申请号：US17363573

申请日：2021-06-30

申请人： Cilag GmbH International

发明人： Paul Moubarak

IPC分类号： A61B17/064 ,  A61B34/00 ,  A61B34/35 ,  A61B34/30

CPC分类号： A61B34/71 ,  A61B34/35 ,  A61B2034/301 ,  A61B2034/305

摘要： Disclosed is a robotic surgical tool, comprising an end effector, an elongate shaft, and an articulation joint. The articulation joint comprises a pivot plate attached to the end effector, a fixed plate attached to the elongate shaft, and a spherical joint coupled to the pivot plate and the fixed plate. The robotic surgical tool further comprises an articulation drive system. The articulation drive system comprises a first rod, a second rod, a third rod, and a fourth rod that extend through the elongate shaft, a first mechanical link pivotably coupled to the first rod and to the pivot plate, a second mechanical link pivotably coupled to the second rod and to the pivot plate, a third mechanical link pivotably coupled to the third rod and to the pivot plate, and a fourth mechanical link pivotably coupled to the fourth rod and to the pivot plate.

公开(公告)号：US20240139507A1

公开(公告)日：2024-05-02

申请号：US18406063

申请日：2024-01-05

申请人： Pulse Biosciences, Inc.

发明人： David J. DANITZ ,  Kevin L. MOSS ,  Wesley C. JOE ,  Christopher J. FOSTER ,  Gary L. BOSECK ,  Xitlalic Y. SOTO-SIDA ,  Robert MASTON ,  John P. LUNSFORD

IPC分类号： A61N1/36 ,  A61B34/35 ,  A61N1/04 ,  A61N1/06 ,  A61N1/08 ,  A61N1/375 ,  A61N1/378 ,  H03K3/02

CPC分类号： A61N1/36017 ,  A61B34/35 ,  A61N1/0476 ,  A61N1/048 ,  A61N1/06 ,  A61N1/08 ,  A61N1/3603 ,  A61N1/375 ,  A61N1/378 ,  H03K3/02 ,  A61B2034/301

摘要： Flexible catheters adapted to be inserted into a body to deliver high-voltage, fast (e.g., microsecond, sub-microsecond, nanosecond, picosecond, etc.) electrical energy to target tissue may include a plurality of conductive layers, that may be coaxial. These catheters and method of using them to treat tissue are configured to reduce or avoid arcing.

公开(公告)号：US11969217B2

公开(公告)日：2024-04-30

申请号：US17336305

申请日：2021-06-02

申请人： Auris Health, Inc.

发明人： Hedyeh Rafii-Tari ,  Prasanth Jeevan

IPC分类号： A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  A61B90/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  A61B90/30

CPC分类号： A61B34/10 ,  A61B34/20 ,  A61B34/37 ,  A61B90/37 ,  A61B2017/00477 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2034/252 ,  A61B2034/301 ,  A61B2090/306 ,  A61B2090/309 ,  A61B2090/3614

摘要： Certain aspects relate to systems and techniques for navigation path tracing. In one aspect, a system displays a preoperative model of a luminal network is displayed. The system determines a position of an instrument within the luminal network relative to the preoperative model. Based on the position of the instrument relative to the preoperative model, the system determines whether to enter a path tracing mode. In path tracing mode the system displays visual indicia indicative of a path of the instrument with respect to the displayed preoperative model. The visual indicia may be used to visual the navigation path of the instrument and/or to extend the preoperative model.

公开(公告)号：US20240130809A1

公开(公告)日：2024-04-25

申请号：US18400648

申请日：2023-12-29

申请人： Auris Health, Inc.

发明人： Mary Margaret SCHEUNERT ,  Pouya SABETIAN ,  Kaiyang ZHENG ,  Alexander Tarek HASSAN

IPC分类号： A61B34/30 ,  B25J13/06

CPC分类号： A61B34/30 ,  B25J13/06 ,  A61B2034/301

摘要： At least one robotic arm is coupled to an instrument and docked to a cannula. The cannula includes a first location of the cannula and a second location of the cannula. The at least one robotic arm is capable of entering a guided mode whereby a remote center of motion changes from the first location of the cannula to the second location of the cannula, and wherein an alert associated with the guided mode informs a user of entry into the guided mode.

公开(公告)号：US20240130808A1

公开(公告)日：2024-04-25

申请号：US18400038

申请日：2023-12-29

申请人： Worcester Polytechnic Institute ,  University of Massachusetts

发明人： Gregory S. Fischer ,  Gregory A. Cole ,  Julie G. Pilitsis

IPC分类号： A61B34/30

CPC分类号： A61B34/30 ,  A61B2034/301 ,  A61B2090/374

摘要： A system and method for image guided assisted medical procedures using modular units, such that a controller, under the direction of a computer and imaging device, can be utilized to drive and track low cost, purpose specific manipulators. The system utilizes modular actuators, self tracking, and linkages. The systems can be optimized at a low cost for most effectively performing surgical procedures, while reusing the more costly components of the system, e.g. the control, driving, and tracking systems. The system and method may utilize MRI real time guidance during the above procedures.

公开(公告)号：US11964387B2

公开(公告)日：2024-04-23

申请号：US17848970

申请日：2022-06-24

申请人： University of Tennessee Research Foundation ,  Hunter Bryant Gilbert

发明人： Daniel Caleb Rucker ,  Hunter Bryant Gilbert

IPC分类号： B25J18/06 ,  A61B17/00 ,  A61B34/00 ,  A61B34/30 ,  B25J18/00 ,  B25J18/02 ,  B25J18/04

CPC分类号： B25J18/06 ,  A61B17/00234 ,  A61B34/30 ,  A61B34/70 ,  B25J18/002 ,  B25J18/005 ,  B25J18/025 ,  B25J18/04 ,  A61B2017/00309 ,  A61B2017/00331 ,  A61B2017/00991 ,  A61B2034/301

摘要： A concentric tube steerable device includes a plurality of tubes having a nested, concentric configuration. The tubes include an outer tube and an inner tube that extends coaxially within the outer tube. The inner tube terminates at a tip, and a pose of the tip is effectuated through individual or collective rotation or translation of the tubes about a tube axis. The concentric tube steerable device includes an actuator for rotating at least one tube about a respective tube axis, and a translator for translating at least one tube along a respective tube axis. Each tube includes a precurved portion and a corresponding axis of precurvature. For at least one tube, a flexural rigidity of the tube along its axis of precurvature is less than a flexural rigidity of the tube along a second axis that is perpendicular to the axis of precurvature, thereby improving stability of the tube.

公开(公告)号：US11963830B2

公开(公告)日：2024-04-23

申请号：US16903711

申请日：2020-06-17

申请人： KARL STORZ SE & Co. KG

发明人： Stephan Schrader ,  Benedikt Koehler ,  Chang-Hae Kim ,  Marco Schulze

IPC分类号： A61B90/50 ,  A61B1/00 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00 ,  B25J13/06 ,  G06T7/50 ,  G06T7/70 ,  G06V20/10 ,  H04N13/239 ,  H04N23/54 ,  H04N23/695

CPC分类号： A61B90/50 ,  A61B1/00149 ,  A61B34/30 ,  A61B34/35 ,  A61B90/361 ,  B25J13/06 ,  G06T7/50 ,  G06T7/70 ,  G06V20/10 ,  H04N13/239 ,  H04N23/54 ,  H04N23/695 ,  A61B2034/301 ,  A61B2090/508 ,  G06T2207/10012

摘要： A medical handling device comprises an instrument holder for holding an observation instrument that is equipped with an image capturing unit for capturing an image section of an object plane. The handling device further comprises a robotic handling unit that supports the instrument holder and a control device that comprises a handling control unit for controlling the robotic handling unit and an instrument control unit for controlling the observation instrument. An input device is coupled to the control device for selecting an image section to be reproduced. The control device is adapted to detect a present orientation of the observation instrument and to control the robotic handling unit, while taking into account the present orientation of the observation instrument, in response to user inputs at the input device. The observation instrument is movable with respect to a pivot point in the object plane at a defined object distance along a curved path.

公开(公告)号：US20240123189A1

公开(公告)日：2024-04-18

申请号：US18045842

申请日：2022-10-12

申请人： Corindus, Inc.

发明人： Kody Saeedi ,  Arturo Brito ,  Peter Falb ,  Christopher Zirps

IPC分类号： A61M25/01

CPC分类号： A61M25/0113 ,  A61B2034/301

摘要： An EMD drive system in one implementation comprises a robotic drive having a robotic drive longitudinal axis; a device module movable along the robotic drive longitudinal axis, the device module including a motor having a motor shaft being substantially parallel to the robotic drive longitudinal axis; and a drive train coupling the motor shaft to a driven member configured to rotate an elongated medical device about an EMD longitudinal axis.

公开(公告)号：US20240122670A1

公开(公告)日：2024-04-18

申请号：US18398456

申请日：2023-12-28

申请人： Virtual Incision Corporation

发明人： Shane Farritor ,  Jeff Shasho ,  Nishant Kumar ,  Mateusz Szczesiak ,  Jason Herman ,  Chris Santoro

IPC分类号： A61B90/00 ,  A61B1/00 ,  A61B1/005 ,  A61B34/00 ,  A61B34/30 ,  A61B34/35

CPC分类号： A61B90/361 ,  A61B1/00128 ,  A61B1/00135 ,  A61B1/00137 ,  A61B1/00154 ,  A61B1/0051 ,  A61B34/30 ,  A61B34/35 ,  A61B34/76 ,  A61B2034/301 ,  A61B2034/302 ,  A61B2034/303 ,  A61B2034/305 ,  A61B2090/306

摘要： The various inventions relate to robotic surgical devices, consoles for operating such surgical devices, operating theaters in which the various devices can be used, insertion systems for inserting and using the surgical devices, and related methods.