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公开(公告)号：US20210077778A1
公开(公告)日：2021-03-18
申请号：US17099837
申请日：2020-11-17
发明人： Theodore W. Rogers
摘要： A stiffening assembly comprises an outer tube including a longitudinal axis, an inner tube extending along the longitudinal axis, and a plurality of laminar elements between the outer tube and the inner tube and separate from the outer tube and the inner tube. The stiffening assembly is adjustable between a flexible state in which each laminar element of the plurality of laminar elements is movable and a stiffened state in which an applied vacuum clamps the plurality of laminar elements between the outer and inner tubes such that a transfer of forces between the plurality of laminar elements stiffens the stiffening assembly. At least one laminar element of the plurality of laminar elements has a different thickness than at least another laminar element of the plurality of laminar elements.
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72.发明申请公开(公告)号：US20210038340A1
公开(公告)日：2021-02-11
申请号：US16757746
申请日：2018-10-18
摘要： A method comprises displaying a surgical environment image. The surgical environment image includes a virtual control element for controlling a component of a surgical system. The method also includes displaying an image of a body part of a user used to interact with the virtual control element. The method also comprises receiving a user input from the user with a gesture based input device while the body part interacts with the virtual control element. The method also comprises adjusting a setting of the component of the surgical system based on the received user input.
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73.发明申请公开(公告)号：US20200246105A1
公开(公告)日：2020-08-06
申请号：US16757089
申请日：2018-10-17
摘要： A cannula can include a body with proximal and distal portions and a lumen extending through the body, the distal portion configured for insertion into a patient anatomy. An energy interface can be positioned in the proximal portion, and a light emitting device can be coupled to the energy interface and configured to emit light from the body. A system can include the cannula, a support structure, and an energy source. The support structure can include another energy interface that transfers energy to/from the energy interface. The energy source can be coupled to the cannula via the energy interfaces, where the light emitting device emits light from the body in response to energy received from the energy source via the energy interfaces. One or more cannulae can be used to illuminate the patient anatomy.
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74.发明授权公开(公告)号：US10028791B2
公开(公告)日：2018-07-24
申请号：US15014513
申请日：2016-02-03
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
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公开(公告)号：US09955996B2
公开(公告)日：2018-05-01
申请号：US14555417
申请日：2014-11-26
发明人： Todd R. Solomon , Thomas G. Cooper , Eugene F. F. Duval , Nicola Diolaiti , Daniel H. Gomez , Robert E. Holop , Anthony K. McGrogan , Craig R. Ramstad , Theodore W. Rogers
IPC分类号： A61B17/00 , A61B17/34 , B32B3/12 , F16F1/12 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/00 , B25J15/04 , A61B46/23 , A61B50/00 , A61B90/98 , A61B17/02 , A61B90/50
CPC分类号： A61B17/3421 , A61B17/0218 , A61B17/3423 , A61B17/3474 , A61B34/00 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B46/10 , A61B46/23 , A61B50/00 , A61B90/98 , A61B2017/00477 , A61B2017/3445 , A61B2017/3447 , A61B2034/302 , A61B2034/306 , A61B2090/5025 , A61M13/003 , B25J15/04 , B32B3/12 , F16F1/121 , Y10T74/20305
摘要： An instrument manipulator and a robotic surgical system including an instrument manipulator are provided. In one embodiment, an instrument manipulator includes a plurality of independent actuator drive modules, each of the plurality of actuator drive modules including an actuator output, wherein each of the actuator outputs are configured to independently actuate a corresponding actuator input of a surgical instrument without force input from another actuator output. The instrument manipulator further includes a frame housing the plurality of independent actuator drive modules, the frame including a distal end from which each of the actuator outputs distally protrude for engaging the corresponding actuator inputs of the surgical instrument.
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公开(公告)号：US09931173B2
公开(公告)日：2018-04-03
申请号：US14983091
申请日：2015-12-29
IPC分类号： A61B34/00 , A61B17/34 , A61B34/30 , A61B34/37 , A61B50/13 , A61B90/92 , A61B1/00 , A61B17/29 , A61B90/50 , A61B90/90 , A61B17/00
CPC分类号： A61B34/70 , A61B1/00149 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3474 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B50/13 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00477 , A61B2017/00526 , A61B2017/00845 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/3419 , A61B2017/3429 , A61B2017/3441 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/301 , A61B2034/305 , Y10S901/41
摘要： A method may include coupling a proximal end of a first cannula to a first manipulator of a surgical system, the first manipulator being configured to remotely actuate movement of the first cannula, wherein the first cannula comprises a rigid portion disposed between the proximal end and a distal end of the first cannula, the rigid portion having a curved longitudinal axis, and coupling a proximal end of a second cannula to a second manipulator of a surgical system, the second manipulator being configured to remotely actuate movement of the second cannula, wherein the second cannula comprises a rigid portion disposed between the proximal end and a distal end of the second cannula, the rigid portion having a curved longitudinal axis. The coupling of the first and second cannulas to the respective first and second manipulators can further include positioning respective first and second centers of motion of the first and second cannulas proximate to each other, and positioning respective longitudinal axes of the first and second cannulas at the first and second centers of motion across one another.
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公开(公告)号：US09814527B2
公开(公告)日：2017-11-14
申请号：US13898753
申请日：2013-05-21
IPC分类号： A61B17/34 , A61B19/00 , A61B1/00 , A61B1/313 , A61M25/00 , A61M25/01 , A61B34/00 , A61B34/37 , A61B90/92 , A61B17/00 , A61B17/04 , A61B17/29 , A61B34/30 , A61B90/50 , A61B90/90 , A61B34/20
CPC分类号： A61B34/30 , A61B1/00149 , A61B1/00193 , A61B1/313 , A61B17/3421 , A61B17/3423 , A61B17/3431 , A61B17/3439 , A61B17/3462 , A61B17/3474 , A61B17/3498 , A61B34/37 , A61B34/71 , A61B34/73 , A61B34/76 , A61B90/50 , A61B90/90 , A61B90/92 , A61B2017/00473 , A61B2017/00526 , A61B2017/00845 , A61B2017/0419 , A61B2017/2904 , A61B2017/2905 , A61B2017/2929 , A61B2017/2936 , A61B2017/2948 , A61B2017/3419 , A61B2017/3429 , A61B2017/3445 , A61B2017/3447 , A61B2017/3454 , A61B2017/3466 , A61B2034/2061 , A61B2034/301 , A61B2034/305 , A61M25/0041 , A61M25/0105
摘要： A cannula mounting fixture may include a base, a first arm with a first cannula mounting bracket and a second arm with a second cannula mounting bracket. The first arm may be coupled to the base so that a first cannula mounted at the first mounting bracket is positioned within an opening in a patient's body. The second arm may be coupled to the base and includes a joint that allows a second cannula mounted at the second mounting bracket to be inserted through the opening. A cannula stabilizing fixture may include a base and a repositionable arm. The base may be configured to be securely and removably coupled to a first cannula that extends into an opening in a patient's body. The repositionable arm may include a first cannula holder coupled to the base and is configured to support a second cannula that extends into the opening.
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公开(公告)号：US09523821B2
公开(公告)日：2016-12-20
申请号：US14665681
申请日：2015-03-23
CPC分类号： G02B6/38 , A61B34/30 , A61B2034/2061 , B33Y80/00 , G01B11/165 , G01D5/35303 , G01D5/35316 , G01D5/35377 , G01D11/245 , G01M11/083 , G02B6/022 , G02B6/3616 , G02B6/3644 , G02B6/3887 , Y10T29/49826 , Y10T29/49838 , Y10T29/49947
摘要： Localized strain is effectively eliminated in a shape sensing optical fiber where the fiber exits a link in a kinematic chain. In one aspect, the fiber is positioned in a channel within a fiber fixture portion of the link, and a surface of a lip of the channel is curved. The curved surface of the lip begins tangent to a wall of the channel and has a maximum radius of curvature that is less than the minimum bend radius that the fiber will experience during shape sensing. In another aspect, the fiber is positioned within a shape memory alloy tube that extends from the link.
摘要翻译： 局部应变在形状感测光纤中被有效地消除，其中纤维离开运动链中的连杆。 在一个方面，纤维被定位在链节的纤维固定部分内的通道中，并且通道的唇缘的表面是弯曲的。 唇缘的弯曲表面开始与通道的壁相切，并且具有小于在形状感测期间纤维将经历的最小弯曲半径的最大曲率半径。 在另一方面，纤维位于从连杆延伸的形状记忆合金管内。
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公开(公告)号：US20160310115A1
公开(公告)日：2016-10-27
申请号：US15134836
申请日：2016-04-21
摘要： A mechanical interface for a robotic medical instrument permits engagement of the instrument and a drive system without causing movement of an actuated portion of the instrument. An instrument interface can include a symmetrical, tapered or cylindrical projection on one of a medical instrument or a drive system and a complementary bore in the other of the drive system or the medical instrument. Symmetry of the projection and the bore allows the projection to be compression fit to the bore regardless of the rotation angle of the drive system relative to the medical instrument.
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80.发明申请公开(公告)号：US20160151121A1
公开(公告)日：2016-06-02
申请号：US15014559
申请日：2016-02-03
发明人： Giuseppe M. Prisco , Theodore W. Rogers , Vincent Duindam , Myriam J. Curet , Catherine J. Mohr , Katherine D. Stoy
CPC分类号： A61B34/30 , A61B34/20 , A61B34/71 , A61B2034/2061 , A61B2034/301 , A61B2562/00 , G01B11/24 , G01D5/35316
摘要： An apparatus includes a reference fixture. The reference fixture includes a joint, and a joint tracker to track motion of the joint. The apparatus also includes a surgical instrument. A tether is connected between the joint and the surgical instrument. A shape sensor extends from the reference fixture through the joint, through the tether, and into the surgical instrument. The shape sensor is substantially free of twist. The joint tracker measures the motion of the joint. Information from the shape sensor in combination with information from the joint tracker provides absolute three-dimensional information relative to the reference fixture, i.e., provides absolute three-dimensional information in a fixed world reference frame.
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